JP2006051557A - Connecting and aligning device of structures and connecting and aligning method of structures - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a connecting and aligning device of structures and a connecting and aligning method of structures, improving the combination alignment accuracy of machine body parts, and shortening the time required for combination or connection. <P>SOLUTION: This connecting and aligning device includes: a plurality of support parts 3a supporting one structure MB2 and controlled to be driven in a predetermined direction; measuring parts 4, 5a, 5c for obtaining the positional information on one structure supported on the support parts 3a and the other structure MB1; an operation part 7 for calculating the connecting position information of one structure MB2 when one structure MB2 is connected to the other structure according to the obtained positional information; and a control part 8 for controlling the drive of the plurality of support parts 3a supporting one structure MB2. The connecting positional information is such positional information that a difference from the design position information of one structure MB2 in design when one structure MB2 is connected to the other structure MB1 is the minimum. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a structure bonding alignment apparatus and a structure bonding alignment method.

  Conventionally, when manufacturing a large structure such as an aircraft or a ship, a method in which a large structure is manufactured by dividing the large structure into several blocks and assembling each structure is used. It has been. For example, when manufacturing an aircraft body, a fuselage, a main wing, and the like are manufactured by dividing them into a plurality of body parts, and the body parts are manufactured by assembling each body part.

As described above, when assembling each airframe part to manufacture the airframe, a positioning dedicated jig formed of an iron frame that supports the airframe part has been used. Since this dedicated jig can be positioned in the three-axis directions, the operator manually moves the machine parts to adjust the alignment and symmetry between the machine parts. For inspection of alignment symmetry, a CAT system (surveying system) is used, and the positional relationship of each body part is measured by the CAT system.
As described above, after the airframe parts are accurately combined, a hole for passing a connecting rivet, bolt, or the like is formed. Then, each machine body part is once separated, and cleaning of a face and the like generated at the time of drilling and application of a sealing material are performed. Thereafter, the separated machine parts are accurately positioned and assembled again, and fixed with rivets, bolts, etc., and the machine body is manufactured.

In addition, as a dedicated jig for supporting the above-mentioned body part, a technique using a positioner controlled and driven in three axis directions by a microprocessor instead of a dedicated jig made of an iron frame has been proposed (for example, Patent Documents). 1).
JP 2002-224978 A

In the conventional assembling method described above, a dedicated jig corresponding to the model and body part of the aircraft to be manufactured is used. Therefore, every time the model of the aircraft to be manufactured is changed, it is necessary to prepare a dedicated jig corresponding to the changed model. For this reason, there is a problem that a large jig cost is generated and a dedicated jig is manufactured before manufacturing the machine body, and the manufacturing process becomes long.
Moreover, since the dedicated jig is formed of an iron frame, the occupied area is large. For this reason, there has been a problem that when performing operations such as fixing the machine body parts, the dedicated jig becomes an obstacle and the operation becomes difficult.

Furthermore, the alignment and symmetry adjustment of each airframe part and its confirmation work were carried out by the operator manually moving the airframe part and measuring the positional relationship of each airframe part. There was a problem of becoming longer.
Also, if the alignment and symmetry of each aircraft part is adjusted as described above, it will be difficult to place each aircraft part in a positional relationship with the least error compared to the designed positional relationship, There was a problem that it would take a lot of time. Furthermore, there is a problem that it takes a lot of time to separate the aircraft parts that have been combined once and combine them again in the same positional relationship.

Patent Document 1 discloses a positioner controlled and driven in three axial directions. If such a positioner is used to support the airframe portion and the like, the position and posture of the airframe portion can be accurately controlled. In addition, the same positioner was able to cope with changes in the model to be manufactured and changes in the body part to be supported.
However, even if calibration of the range of motion of the positioner is performed, it is difficult to check the accuracy of combination of the airframe parts because the work of checking the alignment and symmetry of each airframe part supported is not performed. In addition, in order to confirm the combination accuracy, the worker has to measure the positional relationship between the machine parts as described above, and there is a problem that the time required for the work becomes long.

  The present invention has been made in order to solve the above-described problems, and it is possible to improve the combination position accuracy of a structure that is a body part, and to reduce the time required for combination and connection. An object of the present invention is to provide an alignment apparatus and a method for aligning a structure.

In order to achieve the above object, the present invention provides the following means.
A structure alignment apparatus according to the present invention includes a plurality of support portions that support one structure and can be driven and controlled in a predetermined direction, the one structure supported by the plurality of support portions, and the other structure. A measurement unit that acquires position information of a structure, and a coupling position of the one structure when the one structure is coupled to the other structure based on the position information acquired by the measurement unit An arithmetic unit that calculates information; and a control unit that drives and controls the plurality of support units that support the one structure based on the coupling position information calculated by the arithmetic unit; The position information is position information in which the difference from the design position information of the one structure on design when the one structure is coupled to the other structure is the smallest.

  According to the present invention, the position information of one structure and another structure is acquired by the measurement unit, and the combined position information is calculated based on each acquired position information. For this reason, the influence of the shape error during manufacturing of one structure and other structures on the assembly is minimized, and the position information of the coupling position is not affected regardless of the posture when the one structure and other structures are arranged. Accuracy can be ensured, and the combined position accuracy of one structure and another structure can be improved.

In the case where one structure and another structure that have been combined once are separated and recombined, the one structure can be combined with another structure based on the coupling position information. Therefore, it can be combined in a short time in the same positional relationship as when it was first combined.
Further, the one structure is moved by the support unit that is driven and controlled by the control unit. Therefore, the time required for the movement of one structure and the time required for alignment can be further shortened as compared with the case where an operator performs it manually.

Since one structure is supported by a plurality of support portions movable in a predetermined direction, the position and posture of the one structure can be controlled to the predetermined position and posture. Therefore, it is easy to move the one structure to the position of the coupling position information, and it is possible to easily improve the combined position accuracy of the one structure and the other structure. Further, by making it easier to move one structure, the moving time can be shortened.
For example, one structure can be rotated around a predetermined rotation axis, and the one structure can be easily moved to the position of the coupling position information.

Moreover, the support part can change the number of the support parts used according to the shape of one structure, and can change the point which supports one structure. Therefore, one structure having various shapes and sizes can be supported. In addition, a space required for the joining work of one structure and another structure can be formed in a predetermined region.
Furthermore, one structure can be supported by the support portion having a smaller arrangement space than the dedicated jig. Therefore, it is possible to further reduce the work area required for joining one structure and another structure.

In the above invention, the calculation unit calculates a movement path of the one structure that causes the one structure to approach the other structure, and the control unit calculates the one path based on the movement path. It is desirable to drive and control the support portion that supports the structure.
According to the present invention, one structure can be moved along the calculated movement route, and the one structure and another structure can be combined. For example, when the combination surface of one structure and another structure has a complicated shape such as a step shape, the structure can be brought close to each other so as not to interfere with each other.
Further, it is desirable to calculate the length of the movement path to be the shortest based on the design information of one structure and another structure. By calculating the movement path in this way, the moving distance of one structure can be made the shortest, and the time required for combining / coupling one structure and another structure can be shortened.

Furthermore, in the said invention, the said measurement part irradiates light toward the target arrange | positioned at the said structure or the said support part, and the laser tracker which measures the direction and distance where the said target is arrange | positioned It is desirable to have.
According to the present invention, non-contact three-dimensional measurement can be performed. Therefore, the positional information of one structure and another structure can be acquired quickly. Moreover, when acquiring position information, there is no possibility of disturbing the positions of one structure and another structure, and the accuracy of the acquired position information can be improved. Therefore, the combination accuracy of one structure and another structure can be improved, and the time required for the combination / combination can be shortened.

  The structure coupling alignment method of the present invention is a coupling alignment method for coupling one structure to another structure, and acquires positional information of the one structure and the other structure. Design position information of the one structure in design when the one structure is coupled to the other structure, or arbitrarily designated based on the measurement step to be performed and the acquired position information An operation step of calculating coupling position information that minimizes a difference from the position information, and a moving step of moving the one structure based on the calculated coupling position information are provided.

According to the present invention, when one structure is coupled to another structure, the one structure can be coupled to a position where the difference between the design position information or the arbitrarily specified position information is minimized. The combination position accuracy can be improved.
Further, the combined position information is calculated based on the acquired position information of one structure and another structure. Therefore, the accuracy of the coupling position information can be ensured regardless of the shape and orientation of the one structure and the other structure, and the combined position accuracy of the one structure and the other structure can be improved.
In the case where one structure and another structure that have been combined once are separated and recombined, the one structure can be combined with another structure based on the coupling position information. Therefore, it can be combined in a short time in the same positional relationship as when it was first combined.

According to the structure coupling position alignment apparatus of the present invention, when one structure is coupled to another structure, the one structure can be coupled to the position where the difference from the design position information is minimized. It is possible to achieve the effect that the combination position accuracy can be improved. In addition, since the combined position information is calculated based on the position information of each structure acquired by the measurement unit, the combined position accuracy can be improved.
Since the one structure is moved by the support unit that is driven and controlled by the control unit, the time required for the movement and the time required for the alignment can be shortened. In addition, by combining one structure with another structure based on the coupling position information, it is possible to reproduce the combined positional relationship between one structure and another structure any number of times in a short time Play.

According to the structure coupling position alignment method of the present invention, when one structure is coupled to another structure, the one structure can be coupled to a position where the difference from the design position information is minimized. It is possible to achieve the effect that the combination position accuracy can be improved. In addition, since the combined position information is calculated based on the acquired position information of each structure, the combined position accuracy can be improved.
In the case where one structure and another structure that have been combined once are separated and recombined, the one structure can be combined with another structure based on the coupling position information. For this reason, it is possible to combine the same positional relationship as the first combination in a short time.

A LAPS (Laser Alignment Positioning System), which is a bonding alignment apparatus for structures according to an embodiment of the present invention, will be described with reference to FIGS.
FIG. 1 is a schematic diagram illustrating the overall configuration of LAPS according to the present invention. FIG. 2 is a side view for explaining the structure of the fuselage bonded and manufactured by the LAPS of the present invention.
In the present embodiment, description will be made by applying to the case of joining and manufacturing an aircraft fuselage using LAPS. More specifically, of the front torso, middle torso front, middle torso rear, and rear torso constituting the aircraft fuselage, the middle torso front and middle torso rear, and the middle torso rear and rear The connection with the trunk will be described.

  As shown in FIG. 1, the LAPS (Structure Bonding Positioning Device) 1 includes a support jig 2 for supporting a front part of the middle cylinder (another structure) MB1, and a rear part of the middle cylinder (one structure). A positioner (supporting part) 3a for supporting MB2, a positioner (supporting part) 3b for supporting the back cylinder (one structure) RB, a middle cylinder front part MB1, a middle cylinder rear part MB2, a rear cylinder RB, a positioner 3a, While calculating the movement path and coupling position of the laser tracker (measurement unit) 4 and the targets (measurement units) 5a, 5b, 5c, 5d, 5e, and 5f for measuring the position of 3b, the middle cylinder rear part MB2 and the rear cylinder RB A PC 6 that drives and controls the positioners 3a and 3b is schematically configured.

The supporting jig 2 is composed of an iron frame, and is fixed to the floor surface. Therefore, the supporting jig 2 is configured to fix and support the middle body front part MB1.
The positioners 3a and 3b are positioners (triaxial NC positioners) that are numerically controlled in the X, Y, and Z directions. More specifically, the positioners 3a and 3b are generally formed of a cylinder portion 11 that is driven and controlled in the Z-axis direction, and an XY table 12 that drives and controls the cylinder portion 11 in the X-axis direction and the Y-axis direction. . The positioners 3a and 3b support the middle cylinder rear part MB2 and the rear cylinder RB at the tip part of the cylinder part 11, and are arranged so that the base of the XY table 12 is fixed to the floor surface.

The middle cylinder rear part MB2 and the rear cylinder RB are provided with support receiving parts 21 coupled to the positioner 3a and the positioner 3b, respectively. The support receiving portions 21 are arranged at two places on both sides of the middle trunk rear part MB2 and the rear trunk RB, for a total of four places, and are arranged so as to stably support the middle trunk rear part MB2 and the rear trunk RB. Yes.
Further, as shown in FIG. 2, the coupling surface 31 between the middle cylinder front part MB1 and the middle cylinder rear part MB2 is formed in a plane shape that is bent in a crank shape, and the coupling surface 32 between the middle cylinder rear part MB2 and the rear cylinder RB. Is formed in a planar shape.

As shown in FIG. 1, the laser tracker 4 irradiates laser light toward the targets 5a, 5b, 5c, 5d, 5e, and 5f, and returns light from the targets 5a, 5b, 5c, 5d, 5e, and 5f. By detecting, position data (for example, arrangement direction and distance) of the targets 5a, 5b, 5c, 5d, 5e, and 5f can be measured. The laser tracker 4 is connected so as to output the measured position data of the targets 5a, 5b, 5c, 5d, 5e, and 5f to the PC 6.
Even if the positions of the middle cylinder front part MB1, the middle cylinder rear part MB2, the rear cylinder RB, and the positioners 3a and 3b are measured using the laser tracker 4 and the targets 5a, 5b, 5c, 5d, 5e, and 5f described above. Any other non-contact type three-dimensional measuring device may be used, and is not particularly limited.
The PC 6 includes an arithmetic unit 7 that calculates a coupling position and a movement path of the middle cylinder rear part MB2 and the rear cylinder RB based on each position data output from the laser tracker 4, and positioners 3a and 3b on the X, Y, and Z axes. And a control unit 8 that controls driving in the direction.

Next, the connection between the middle cylinder front part MB1 and the middle cylinder rear part MB2 and the connection between the middle cylinder rear part MB2 and the rear cylinder RB using the LAPS 1 having the above-described configuration will be described. First, the joining operation | work with middle cylinder front part MB1 and middle cylinder rear part MB2 is demonstrated.
FIG. 3 is a flowchart for explaining the flow of the joining operation between the middle cylinder front part MB1 and the middle cylinder rear part MB2. FIG. 4 is a perspective view for explaining the positional relationship between the supporting jig 2 and the positioners 3a and 3b.
First, a supporting jig 2 that supports the middle cylinder front part MB1 on the floor surface to be joined, four positioners 3a that support the middle cylinder rear part MB2, and four positioners 3b that support the rear cylinder RB, As shown in FIG. 4, it is arrange | positioned in the arrangement | positioning position of middle trunk front part MB1, middle trunk rear part MB2, and rear trunk RB. The positioner 3a and the positioner 3b are arranged in a substantially rectangular shape so as to support the middle cylinder front part MB1 and the middle cylinder rear part MB2, respectively (STEP 1).
When the supporting jig 2 and the positioners 3a and 3b are arranged, the middle cylinder front part MB1 is then installed on the supporting jig 2 (STEP 2).

FIG. 5 is a diagram for explaining the positional relationship between the laser tracker 4 and the targets 5a and 5b arranged in the middle cylinder front part MB1.
When the middle cylinder front part MB1 is installed on the supporting jig 2, the laser tracker 4 is installed on the front floor F1 of the middle cylinder front part MB1 via the jig as shown in FIG. Similarly, six targets 5 are attached on the front floor F1. The target 5a is arranged at the center of the four corners and the long side of the front floor F1. Further, the target 5b is also disposed at the tip of the positioner 3a that supports the middle cylinder rear part MB2 (STEP 3).
In addition, the six positions mentioned above may be sufficient as the arrangement | positioning position of the target 5a, the other point on the front floor F1 may be sufficient, the number of arrangement | positioning may be more than six, may be few, and is specifically limited. It is not something.

When the targets 5a and 5b are arranged, the position of the target 5a arranged in the middle cylinder front part MB1 is measured by the laser tracker 4, and the measured position data is output to the PC 6. The PC 6 calculates, based on the input position data, the machine coordinate system of the middle front part MB1 as a reference by the best fitting calculation of the measured value and the design position information (STEP 4).
Next, the position of the target 5b attached to the positioner 3a by the laser tracker 4 is measured while moving the positioner 3a, and the measured data is output to the PC 6. The PC 6 calculates the coordinate axis of the positioner 3a by the calculation unit 7, and calculates and corrects the deviation between the above-described body coordinate system and the coordinate axis of the positioner 3a (STEP 5).

FIG. 6 is a diagram for explaining the positional relationship between the laser tracker 4 arranged in the middle cylinder front part MB1 and the target 5c arranged in the middle cylinder rear part MB2.
Thereafter, the target 5b is removed, and the positioner 3a is moved to the standby position of the middle trunk rear part MB2. Here, the standby position of the positioner 3a means that when the middle cylinder rear part MB2 is arranged at a position where it is installed in the positioner 3a, the middle cylinder front part MB1 and the middle cylinder rear part MB2 do not interfere with each other, and at the same time, the middle cylinder rear part MB2 This is a position where the positioner 3a does not interfere.
When the positioner 3a moves to the standby position, the middle trunk rear part MB2 is arranged at an installation position above the positioner 3a. Then, the positioner 3a is moved in the Z-axis direction so that the positioner 3a is coupled to the support receiving portion 21 of the middle cylinder rear part MB2, and the middle cylinder rear part MB2 is supported as shown in FIG. 6 (STEP 6).

When the middle trunk rear part MB2 is supported, the target 5c is disposed on the rear floor F2 of the middle trunk rear part MB2. The target 5c is arrange | positioned at the substantially four corners of the rear floor F2, as shown in FIG. When the target 5c is arranged, the position of the target 5c is measured by the laser tracker 4, and the measured position data is output to the PC 6 (STEP 7 (measurement step)).
The PC 6 calculates the flatness of the surface constituted by the rear floor F2 by the calculation unit 7 based on the position data of the target 5c.
Thereafter, the coupling position of the middle trunk rear part MB2 is calculated. The coupling position of the middle waist rear part MB2 is calculated by the best fit calculation using the least square method so that the difference between the position data of 5C and the design position information is minimized. At the same time, a movement path that is a path for causing the middle trunk rear part MB2 to approach the middle trunk front part MB1 without interfering with the middle trunk front part MB1 is calculated based on the three-dimensional design data of the middle trunk front part MB1. (STEP 8 (calculation step)).
In addition, the flatness of the floor on the above-mentioned 3D design data and the 3D design data of the middle trunk front MB1 are 3D CAD (Computer Aided Design) such as CATIA (registered trademark), for example. It may be design data, or may be three-dimensional design data constructed by other design support tools.

FIG. 7 is a diagram illustrating a state in which the middle trunk rear part MB2 is combined with the middle trunk front part MB1.
When the coupling position and the movement path are calculated, the control unit 8 controls the positioner 3a based on the movement path to move the middle trunk rear part MB2 to the coupling position. Until the middle cylinder rear part MB2 approaches the middle cylinder front part MB1 up to a predetermined distance, the middle cylinder rear part MB2 is linearly approached to the middle cylinder front part MB1 along the X-axis direction, and rough positioning is performed. After the rough positioning of the middle trunk rear part MB2, the control unit 8 moves the middle trunk rear part MB2 in a step shape so as not to interfere with the middle trunk front part MB1 along the movement path, and as shown in FIG. Precisely position MB2 at the coupling position.
After the precise positioning, the position of the target 5c on the rear floor F2 is measured by the laser tracker 4, and it is confirmed by the arithmetic unit 7 whether the rear floor F2 is arranged at a predetermined position (STEP 9 (movement step)).

  After completion of the confirmation, the positioner 3a is fixed (interlock, brake), and then the laser tracker 4 and the targets 5a and 5c are removed from the front floor F1 and the rear floor F2. Then, the parts for coupling such as a band plate for coupling the middle cylinder front part MB1 and the middle cylinder rear part MB2 are positioned and marked. Thereafter, a hole through which a rivet or the like for connecting the middle cylinder front part MB1 and the middle cylinder rear part MB2 is passed is made, and dishing is performed (STEP 10).

When the hole is finished, the position of the hole, the size of the diameter of the hole, the scratch inside the hole, and the like are inspected, and the fixing of the positioner 3a is released. Then, the control unit 8 controls the positioner 3a to separate the middle cylinder rear part MB2 so as not to interfere with the middle cylinder front part MB1, and move it to the retracted position (STEP 11).
When the middle cylinder rear part MB2 is moved to the retracted position, the positioner 3a is fixed, and the deburring around the hole and the dish pan, and cleaning of the chips falling inside the middle cylinder front part MB1 and the middle cylinder rear part MB2 are performed. (STEP 12).
Thereafter, a sealing material is applied to the joint between the middle cylinder front part MB1 and the middle cylinder rear part MB2, and the fixing of the positioner 3a is released. When the fixing of the positioner 3a is released, the control unit 8 automatically moves the middle cylinder rear part MB2 again to the coupling position shown in FIG. (STEP 13).
At this time, until the middle cylinder rear part MB2 approaches the middle cylinder front part MB1 to a predetermined distance, the middle cylinder rear part MB2 is linearly moved along the X-axis direction and moved closer to the middle cylinder front part MB1 at high speed. Then, it moves at a low speed to the coupling position. After that, the positioner 3a is fixed, and the middle cylinder front part MB1 and the middle cylinder rear part MB2 are driven with a rivet or the like (STEP 14).

  When the middle cylinder front part MB1 and the middle cylinder rear part MB2 are joined, the laser tracker 4 and the target 5a are attached to the front floor F1 again, and the target 5c is attached to the rear floor F2. Then, the targets 5a and 5c are measured by the laser tracker 4, and the inspection data of the coupling result of the middle cylinder front part MB1 and the middle cylinder rear part MB2 is acquired (STEP 15). The acquired inspection data is output as an inspection record, and the joining operation of the middle cylinder front part MB1 and the middle cylinder rear part MB2 is completed.

Next, a joining operation between the middle trunk rear part MB2 and the rear trunk RB will be described.
FIG. 8 is a flowchart for explaining the flow of the joining operation between the middle cylinder rear part MB2 and the rear cylinder RB. FIG. 9 is a diagram for explaining the positional relationship among the laser tracker 4, the target 5d attached to the coupling surface 32 of the middle cylinder rear part MB2, and the target 5e attached to the positioner 3b.
First, as shown in FIG. 9, the laser tracker 4 is installed on the floor surface. Then, it is confirmed that the positioner 3a supporting the middle cylinder rear part MB2 is fixed (STEP 21).
Thereafter, four targets 5d are attached to the coupling surface 32 with the rear cylinder RB of the middle cylinder rear part MB2. When the target 5d is attached, the position of the target 5d is measured by the laser tracker 4, and the measured position data is output to the PC 6. Based on the input position data, the PC 6 calculates the body coordinate system of the middle trunk rear part MB2 by the calculation unit 7 (STEP 22).

  When the machine coordinate system is calculated, the target 5e is attached to the tip of the positioner 3b that supports the rear trunk RB. Then, the operating direction of the positioner 3b is measured by measuring the position of the target 5e by the laser tracker 4, and the data is output to the PC 6. Based on the input data, the PC 6 calculates the coordinate axis direction of the positioner 3b by the calculation unit 7 and corrects the axis deviation of the rear trunk RB from the machine coordinate system (STEP 23).

FIG. 10 is a diagram for explaining the positional relationship among the laser tracker 4, the target 5d arranged in the middle cylinder rear part MB2, and the target 5f arranged in the rear cylinder RB.
Thereafter, the target 5e is removed, and the positioner 3b is moved to the standby position of the rear cylinder RB.
When the positioner 3b moves to the standby position, the rear cylinder RB is disposed at the position where the positioner 3b is installed. Then, the cylinder portion 11 of the positioner 3b is moved in the Z-axis direction, the positioner 3b is coupled to the support receiving portion 21 of the rear cylinder RB, and the rear cylinder RB is supported (STEP 24).
After that, as shown in FIG. 10, four targets 5f are attached to the coupling surface 32 with the middle barrel rear part MB2 of the rear barrel RB. When the target 5f is attached, the position of the target 5f is measured by the laser tracker 4, and the measured position data is output to the PC 6 (STEP 25).
Based on the position data of the target 5f, the PC 6 calculates the coupling position of the rear trunk RB by the calculation unit 7. The best fit calculation is performed so that the difference between the position information of 5d and 5f is minimized (STEP 26).

FIG. 11 is a diagram illustrating a state where the rear cylinder RB is combined with the middle cylinder rear part MB2.
Thereafter, the control unit 8 drives the positioner 3b based on the calculated coupling position data to level the coupling surface 32 of the rear cylinder RB. Leveling out means adjusting the position so that the coupling surface 32 of the rear cylinder RB is substantially parallel to the coupling surface 32 of the middle cylinder rear part MB2. Then, the targets 5d and 5f attached to the middle cylinder rear part MB2 and the rear cylinder RB are removed, and the rear cylinder RB is moved to the coupling position as shown in FIG. 11 (STEP 27).
When the rear cylinder RB moves to the coupling position, the relative positions of the middle cylinder rear part MB2 and the coupling hole of the rear cylinder RB are confirmed, and the positioner 3b is fixed.
Thereafter, the middle cylinder rear part MB2 and the rear cylinder RB are fixed with bolts (STEP 28), and the relative positions of the middle cylinder rear part MB2 and the rear cylinder RB are inspected and confirmed (STEP 29). The middle cylinder rear part MB2 and the rear cylinder RB The joining operation is completed.

Next, a description will be given of the result of trial calculation of the working time when the fuselage is coupled using the LAPS 1 of the present invention.
FIG. 12 is a graph comparing the work time required when the fuselage is coupled by the conventional method and the work time required when the fuselage is coupled using the LAPS 1 of the present invention. As shown in FIG. 12, the work time per machine according to the conventional method is approximately 53 hours, and the work time per machine is reduced to approximately 10.5 hours in the method using LAPS1. This shortening of the time is achieved by shortening the time required for position measurement, movement, and adjustment of the rear barrel RB such as inspection, alignment confirmation, recombination, and level measurement.

  According to the above configuration, the position data of the middle cylinder rear part MB2 and the middle cylinder front part MB1 are combined based on the position data of the middle cylinder rear part MB2 and the middle cylinder front part MB1 obtained by the laser tracker 4 and the targets 5a and 5c. Position information is calculated. Therefore, it is possible to ensure the accuracy of the coupling position data regardless of the shape error at the time of manufacturing the middle trunk rear part MB2 and the middle trunk front part MB1, regardless of the posture when the middle trunk rear part MB2 and the middle trunk front part MB1 are arranged. Combination position accuracy can be improved.

Since the middle cylinder rear part MB2 is moved along the movement path calculated based on the three-dimensional design data, the middle cylinder rear part MB2 and the middle cylinder front part MB1 can be brought close to each other so as not to interfere with each other.
Further, based on the three-dimensional design data, it is possible to calculate a movement route that makes the length of the movement route the shortest. As a result, the moving distance of the middle cylinder rear part MB2 can be minimized, and the time required for combining and coupling the middle cylinder rear part MB2 and the middle cylinder front part MB1 can be shortened.
Furthermore, it is possible to reproduce the above-described movement route and the movement route with the shortest distance, and it is possible to easily verify and examine these movement routes.

The middle cylinder rear part MB2 and the rear cylinder RB are moved by positioners 3a and 3b which are driven and controlled by the control unit 8. Therefore, the time required for the movement of the middle cylinder rear part MB2 and the rear cylinder RB and the time required for alignment can be further reduced as compared with the case where the worker manually performs the alignment.
Further, the middle cylinder rear part MB2 and the rear cylinder RB can be moved to the coupling position based on the respective coupling position data. Therefore, even after the middle cylinder rear part MB2 and the rear cylinder RB are once combined and separated, they can be moved to the same coupling position in a short time and combined.

Since the middle trunk rear part MB2 and the rear trunk RB are supported by positioners 3a and 3b that are movable in the three axial directions of the X, Y, and Z axes, the positions and postures of the middle trunk rear part MB2 and the rear trunk RB are calculated as described above. It is easy to move to the coupled position, and it is possible to easily improve the coupling position accuracy of the middle cylinder rear part MB2 and the rear cylinder RB.
The positioners 3a and 3b can change the number of the positioners 3a and 3b to be used according to the shapes of the middle cylinder rear part MB2 and the rear cylinder RB, and can change the points that support the middle cylinder rear part MB2 and the rear cylinder RB. Therefore, it is possible to support the middle trunk rear part MB2 and the rear trunk RB and the like in various shapes and sizes without changing the shapes of the positioners 3a and 3b. Further, a space required for the joining operation of the middle cylinder rear part MB2 and the rear cylinder RB can be formed in a predetermined region.
Further, the middle cylinder rear part MB2 and the rear cylinder RB can be supported by the positioners 3a and 3b having a smaller arrangement space than the dedicated jig. Therefore, the work area required for body connection can be further reduced.

By using the laser tracker 4 and the targets 5a, 5b, 5c, 5d, 5e, and 5f, the middle cylinder front part MB1, the middle cylinder rear part MB2, the rear cylinder RB, and the positioners 3a and 3b can be three-dimensionally measured without contact. it can.
Therefore, the position data of the middle cylinder front part MB1, the middle cylinder rear part MB2, the rear cylinder RB, and the positioners 3a and 3b can be acquired quickly and with high accuracy without disturbing the positions. As a result, it is possible to improve the combination accuracy of the middle cylinder front part MB1, the middle cylinder rear part MB2, and the rear cylinder RB, and it is possible to shorten the time required for the combination and combination.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, the present invention has been described in connection with the combination of the aircraft fuselage. However, the present invention is not limited to the combination of the aircraft fuselage. It can be applied to the coupling of structures.

It is the schematic which shows the whole structure of LAPS which concerns on this invention. It is a side view which shows the structure of the fuselage | body combined and manufactured by LAPS of FIG. It is a flowchart which shows the flow of the joint operation | work of a middle cylinder front part and a middle cylinder rear part. It is a figure which shows the arrangement | positioning relationship of a support jig | tool and a positioner. It is a figure which shows the positional relationship of the laser tracker and target which are arrange | positioned at the middle cylinder front part. It is a figure which shows the positional relationship of the laser tracker arrange | positioned in a middle cylinder front part, and the target arrange | positioned in a middle cylinder rear part. It is a figure explaining the state where the middle trunk rear part was combined with the middle trunk front part. It is a flowchart which shows the flow of the joint operation | work of a middle trunk | drum rear part and a rear trunk. It is a figure which shows the positional relationship of a laser tracker, the target attached to the coupling surface of the middle cylinder rear part, and the target attached to the positioner. It is a figure which shows the positional relationship of a laser tracker and the target arrange | positioned at a middle cylinder rear part and a rear cylinder. It is a figure explaining the state where the back cylinder was combined with the middle cylinder rear part. It is the graph which compared the work time required for the fuselage | body coupling | bonding of the conventional method with the work time required for the fuselage | body coupling | bonding using LAPS of this invention.

Explanation of symbols

1 LAPS (bonding alignment device for structures)
3a, 3b Positioner (supporting part)
4 Laser tracker (measurement unit)
5a, 5b, 5c, 5d, 5e, 5f Target (measurement unit)
7 Calculation part 8 Control part MB1 Middle trunk front part (other structures)
MB2 Middle trunk rear (one structure)
RB rear trunk (one structure)

Claims (4)

A plurality of support portions that support one structure and can be driven and controlled in a predetermined direction;
A measurement unit that acquires positional information of the one structure and the other structure supported by the plurality of support units;
Based on the position information acquired by the measurement unit, a calculation unit that calculates the coupling position information of the one structure when coupling the one structure to the other structure;
A control unit that drives and controls the plurality of support units that support the one structure based on the coupling position information calculated by the calculation unit;
The coupling position information is position information that minimizes a difference from the design position information of the one structure in design when the one structure is coupled to the other structure. Device for aligning structures. The calculation unit calculates a movement path of the one structure that causes the one structure to approach the other structure;
2. The structure alignment apparatus according to claim 1, wherein the control unit drives and controls the support unit that supports the one structure based on the movement path.   The measurement unit includes a target disposed on the structure or the support unit, and a laser tracker that irradiates light toward the target and measures a direction and a distance of the target. An apparatus for aligning and connecting structures according to claim 1 or 2. A bonding alignment method for bonding one structure to another structure,
A measurement step of acquiring positional information of the one structure and the other structure;
Based on the acquired position information, the difference between the design position information of the one structure on design and the arbitrarily specified position information when the one structure is coupled to the other structure A calculation step for calculating the bond position information that minimizes,
And a moving step of moving the one structure based on the calculated coupling position information.

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