WO2016121825A1 - 航空機部品位置決め装置、航空機組立システム及び航空機組立方法 - Google Patents
航空機部品位置決め装置、航空機組立システム及び航空機組立方法 Download PDFInfo
- Publication number
- WO2016121825A1 WO2016121825A1 PCT/JP2016/052364 JP2016052364W WO2016121825A1 WO 2016121825 A1 WO2016121825 A1 WO 2016121825A1 JP 2016052364 W JP2016052364 W JP 2016052364W WO 2016121825 A1 WO2016121825 A1 WO 2016121825A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- aircraft
- virtual
- positioning device
- plate
- parts
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000003384 imaging method Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/068—Fuselage sections
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to an aircraft part positioning device, an aircraft assembly system, and an aircraft assembly method that are used when an aircraft part is installed on another part.
- the structure provided on the fuselage or wing of an aircraft has a three-dimensional curved surface, and secures final rigidity by combining parts with low rigidity. Therefore, at the time of assembly, each structural component is attached to a predetermined position with respect to other components using a positioning jig.
- the positioning jig has, for example, a plurality of recesses, and a structural component is placed in the recesses, and the positioning jig is brought close to other components based on a reference point. Thereby, the structural component is attached at a predetermined position.
- the positioning jig When trying to position a large number of structural parts at once with a positioning jig, the interval between the structural parts becomes narrow, making it difficult for the operator who installs the parts to work. Therefore, in order to improve workability, the positioning jig must have a configuration without a narrow portion accessible by the operator.
- the component mounting process is divided into a plurality of parts, and different positioning jigs are used for each process. Thereby, the space
- Patent Document 1 discloses a technique for accurately assembling a large product such as a fuselage of a large aircraft.
- the present invention has been made in view of such circumstances, and an aircraft component positioning device, an aircraft assembly system, and an aircraft assembly system capable of accurately arranging components on a plate member of an aircraft without using a positioning jig, and An object is to provide an aircraft assembly method.
- An aircraft component positioning device is based on a detection unit that detects positions of a plurality of first components installed on a plate-like member of an aircraft, and the detected position of the first component.
- a virtual position creation unit that creates a virtual position between the plurality of first parts, and a second part that is installed on the plate-like member based on the created virtual position and that is different from the first part
- a position determining unit that determines a position.
- the first part is on a virtual position including the plurality of first parts or at a position away from the virtual position by a predetermined distance.
- the installation position of the second part different from the above is determined.
- the detection unit detects an installation hole in which the second part formed in the plate-like member is installed, and the position determination unit detects the created virtual position.
- the installation position of the second component may be determined based on the installation hole.
- the virtual position creation unit creates two or more virtual positions based on at least three or more first parts, and the position determination unit creates the two or more created virtual positions. Based on the position, the installation position of the second component may be determined.
- An aircraft assembly system is based on the aircraft part positioning device described above and the installation position of the second part determined by the aircraft part positioning device. And an aircraft part mounting device for installing the aircraft.
- An aircraft assembling method includes a step of detecting positions of a plurality of first parts installed on a plate-like member of an aircraft, and a plurality of positions based on the detected positions of the first parts.
- the third aspect may further include a step of installing the second component on the plate-like member based on the determined installation position of the second component.
- FIG. 1 is a block diagram showing an aircraft assembly system according to an embodiment of the present invention. It is a flowchart which shows operation
- the aircraft assembly system 1 assembles an aircraft fuselage, main wing, and the like.
- the structure such as the fuselage and the main wing is configured by combining a plurality of structural parts, and the fuselage and the main wing are configured by combining the structure and a thin plate member (skin).
- the aircraft assembly system 1 includes a positioning device 2 that determines an installation position of a structural component on a thin plate member, and an attachment device 3 that attaches the structural component to the thin plate member.
- a positioning device 2 that determines an installation position of a structural component on a thin plate member
- an attachment device 3 that attaches the structural component to the thin plate member.
- the positioning device 2 includes a sensor unit 4, a detection unit 5, a virtual position creation unit 6, a position determination unit 7, and the like.
- the detection unit 5, the virtual position creation unit 6, and the position determination unit 7 are realized by a control device such as a computer that executes a program.
- the mounting device 3 is, for example, a robot, and includes a sensor unit 8, a detection unit 9, a gripping unit 10, a fastener joint unit 11, and the like.
- the sensor unit 4 of the positioning device 2 and the like may be provided in the robot, and the sensor unit 8 and the detection unit 9 of the attachment device 3 include the sensor unit 4 of the positioning device 2 and the like.
- the detection unit 5 may also be used.
- the detection unit 9 is realized by a control device such as a computer that executes a program.
- the sensor unit 4 of the positioning device 2 is, for example, a laser distance sensor or an imaging device such as a camera.
- the sensor unit 4 measures the distance to an object, for example, a structural component 13 already installed on a thin plate member 12 of an aircraft, as shown in FIG.
- the sensor unit 4 sends the measured result to the detection unit 5.
- the sensor unit 4 may measure the distance to the installation hole 15 of the newly installed structural component 14 formed in the thin plate member 12 (see FIGS. 2 and 5).
- the thin plate member 12 is an example of a plate member.
- the detection unit 5 detects the position of the object, for example, the above-described existing structural component 13 based on the distance information that is the result measured by the sensor unit 4.
- the detected position is, for example, position information such as a coordinate point with respect to a certain reference point (origin).
- a plurality of representative points may be extracted for one existing structural component 13 and the position of each representative point may be detected.
- the detection unit 5 detects the position of the installation hole 15.
- the virtual position creation unit 6 creates a virtual position between a plurality of objects, for example, existing structural parts 13.
- the virtual position may be a virtual line or a virtual plane.
- a virtual line is created by connecting the positions of the two existing structural components 13.
- a virtual plane is created by connecting the two positions of the two existing structural components 13.
- the virtual position creation unit 6 may create two or more virtual positions (virtual lines or virtual surfaces) based on at least three or more existing structural components 13.
- the position determination unit 7 determines the installation position of the structural component 14 to be newly installed on the thin plate member 12 based on the created virtual position.
- the position determination unit 7 may determine the installation position of the newly installed structural component 14 in consideration of the detected position of the installation hole 15 of the newly installed structural component 14.
- the position determination unit 7 determines the installation position of the newly-established structural component 14 by, for example, averaging two virtual positions based on the two or more virtual positions. To do.
- the sensor unit 8 of the mounting device 3 is, for example, a laser distance sensor or an imaging device such as a camera.
- the sensor unit 8 measures the distance to the object.
- the sensor unit 8 measures, for example, the distance to the installation position of the newly installed structural component 14.
- the detection unit 9 detects the position of the object, for example, the above-described newly-constructed structural component 14 based on the distance information that is the result measured by the sensor unit 8.
- the gripping unit 10 grips the structural component 14 to be installed, and moves the structural component 14 to a newly installed position based on the result of the detection unit 9 and the virtual position determined by the positioning device 2.
- the gripper 10 releases the grip of the structural component 14 after the structural component 14 is fixed by the fastener.
- Fastener joint 11 joins structural component 14 moved to a newly installed position to thin plate member 12 with a fastener.
- the fastener is a bolt or a rivet.
- step S1 the distance to the two structural components 13 already provided on the thin plate member 12 is measured by the sensor unit 4 of the positioning device 2 (step S1). Then, the measurement result is sent from the sensor unit 4 to the detection unit 5. Then, the position of the existing structural component 13 is detected by the detection unit 5 (step S2). At this time, the position of one or a plurality of representative points P is detected for one structural component 13.
- the virtual position creation unit 6 creates a virtual position such as a virtual line or a virtual plane between the existing structural parts 13 based on the positions of the representative points P of the two structural parts 13 (step S3). ).
- a virtual plane V is created.
- two or more virtual positions may be created based on the positions of the representative points P of the three or more structural parts 13 to create an averaged virtual position.
- two virtual planes V1 and V2 are created based on the positions of the representative points P of the three structural parts 13, and the two virtual planes V1 and V2 are averaged.
- a virtual plane V3 is created.
- the newly installed structural component 14 is gripped by the gripping portion 10 of the mounting device 3 and is ready for installation. Then, after the virtual position is created, the new structural component 14 is moved and placed by the gripper 10 to the virtual position determined as the newly installed position. In the example shown in FIGS. 3 and 4, the newly-constructed structural component 14 is placed on the virtual planes V ⁇ b> 1 and V ⁇ b> 2 or the average virtual plane V ⁇ b> 3. Thereafter, the structural component 14 placed at the installation position is joined by the fastener by the fastener joining portion 11 (step S4).
- the installation position of the newly installed structural component 14 is determined by the position determination unit 7 based on the detected position of the installation hole 15 and the created virtual position. For example, as shown in FIG. 5, the installation position 15V of the structural component 14 newly provided between the two structural components 13 is in a direction parallel to the virtual plane V (for example, the circumferential direction of the trunk skin). Is determined to be on the same axis as the installation hole 15 (on the axis in the machine axis direction), and the direction perpendicular to the virtual plane V (axis direction) is determined to be within the virtual plane V. .
- the completed body is composed of a skin 21 and a plurality of structural parts.
- the plurality of structural parts are stringers, clips, shear ties and the like.
- the skin (thin plate member) 21 is fixed in advance to the reference position by the jig 20.
- the stringer subassembly 22 is installed on the skin 21.
- the stringer subassembly 22 is formed by arranging a plurality of clips 24 on the stringer 23 at regular intervals, for example. In FIG. 7, some of the clips 24 are omitted.
- the clip 24 is installed on the stringer 23 and the stringer subassembly 22 is in a preassembled state.
- One of the clips 24 installed on the stringer subassembly 22 is extracted as a master clip 24M. Then, for example, using the sensor unit 4 (or sensor unit 8) such as a laser distance sensor, alignment is performed so that the master clip 24M is positioned on the skin 21 (step S11), and the mounting position is reached.
- the stringer subassembly 22 is fixed to the skin 21 by the fastener (step S12). By repeating this operation for the plurality of stringer subassemblies 22, the plurality of stringer subassemblies 22 are fixed to the skin 21 in a state where the respective master clips 24M are aligned at the same mounting position.
- step S13 the distance between the two stringer sub-assemblies 22 adjacent to the clip 24 is measured by the positioning device 2, and the respective positions of the two clips 24 are detected (step S13). Then, a virtual surface is created between the two clips 24 (step S14). Thereafter, the attachment device 3 moves and places the newly installed share tie 25 to the created virtual position. The placed shear tie 25 is fixed to the skin 21 by the fastener joint 11. This operation is repeated for a plurality of clips 24 to create virtual surfaces, and shear ties 25 are joined to the respective virtual surfaces (step S15).
- the newly installed share tie 25 is arranged in a state where the clip 24 and the share tie 25 are aligned at the attachment position on the skin 21. At this time, the assembly can be performed accurately without using a conventional positioning jig.
- one clip 24 of another stringer subassembly 22B is used as a submaster clip 24S, and the position of the master clip 24M of one stringer subassembly 22A is set.
- another stringer sub assembly 22B may be installed in the axial direction.
- the newly installed structural component is installed at the same position as the created virtual position has been described, but the present invention is not limited to this example. That is, the newly provided structural component may be installed at a position away from the created virtual position by a predetermined distance.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Automatic Assembly (AREA)
Abstract
Description
航空機組立システム1は、航空機の胴体や主翼などを組み立てる。胴体や主翼等の構造体は、複数の構造用部品が組み合わされて構成され、胴体や主翼等は、構造体と、薄板部材(スキン)とが結合されて構成される。航空機組立システム1は、薄板部材上に構造用部品の設置位置を決定する位置決め装置2と、薄板部材に構造用部品を取り付ける取付け装置3とを備える。なお、以下では、薄板部材に構造用部品を取り付けるという場合、薄板部材に構造用部品が直接取り付けられる場合と、他の部品を間に挟んで薄板部材に構造用部品が取り付けられる場合の両方を含む。
仮想位置作成部6は、少なくとも三つ以上の既設の構造用部品13に基づいて、2以上の仮想位置(仮想線又は仮想面)を作成してもよい。
まず、位置決め装置2のセンサ部4によって、薄板部材12に既に設けられている二つの構造用部品13までの距離がそれぞれ測定される(ステップS1)。そして、測定結果は、センサ部4から検出部5に送られる。そして、検出部5によって、既設の構造用部品13の位置が検出される(ステップS2)。このとき、一つの構造用部品13に対して、一又は複数の代表点Pの位置が検出される。
次に、図6及び図7を参照して、航空機の胴体を組み立てる場合の一例について説明する。胴体の完成品は、スキン21と複数の構造用部品から構成される。以下では、複数の構造用部品は、ストリンガー、クリップ、シェアタイなどである。
図7に示すように、組み立てを開始する際、予めスキン(薄板部材)21は、治具20によって、基準位置に固定されている。
2 位置決め装置
3 取付け装置
4,8 センサ部
5,9 検出部
6 仮想位置作成部
7 位置決定部
10 把持部
11 ファスナ接合部
12 薄板部材
13,14 構造用部品
15 設置穴
Claims (6)
- 航空機の板状部材に設置される複数の第1部品の位置を検出する検出部と、
検出された前記第1部品の前記位置に基づいて、複数の前記第1部品間に仮想位置を作成する仮想位置作成部と、
作成された前記仮想位置に基づいて、前記板状部材に設置される、前記第1部品と異なる第2部品の設置位置を決定する位置決定部と、
を備える航空機部品位置決め装置。 - 前記検出部は、前記板状部材に形成された前記第2部品が設置される設置穴を検出し、
前記位置決定部は、作成された前記仮想位置と、検出された前記設置穴に基づいて、前記第2部品の設置位置を決定する請求項1に記載の航空機部品位置決め装置。 - 前記仮想位置作成部は、少なくとも三つ以上の前記第1部品に基づいて、2以上の前記仮想位置を作成し、
前記位置決定部は、作成された2以上の前記仮想位置に基づいて、前記第2部品の設置位置を決定する請求項1又は2に記載の航空機部品位置決め装置。 - 請求項1から3のいずれか1項に記載の航空機部品位置決め装置と、
前記航空機部品位置決め装置によって決定された前記第2部品の設置位置に基づいて、前記板状部材に前記第2部品を設置する航空機部品取付け装置と、
を備える航空機組立システム。 - 航空機の板状部材に設置される複数の第1部品の位置を検出するステップと、
検出された前記第1部品の前記位置に基づいて、複数の前記第1部品間に仮想位置を作成するステップと、
作成された前記仮想位置に基づいて、前記板状部材に設置される、前記第1部品と異なる第2部品の設置位置を決定するステップと、
を含む航空機組立方法。 - 決定された前記第2部品の設置位置に基づいて、前記板状部材に前記第2部品を設置するステップを更に含む請求項5に記載の航空機組立方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112017016025-0A BR112017016025A2 (ja) | 2015-01-28 | 2016-01-27 | An airplane part positioning device, an airplane assembling system, and an airplane assembly method |
CA2974790A CA2974790C (en) | 2015-01-28 | 2016-01-27 | Aircraft component positioning device, aircraft assembly system, and aircraft assembly method |
CN201680007410.6A CN107207099B (zh) | 2015-01-28 | 2016-01-27 | 航空器零件定位装置、航空器组装系统以及航空器组装方法 |
EP16743428.1A EP3239056A4 (en) | 2015-01-28 | 2016-01-27 | Aircraft component positioning device, aircraft assembly system, and aircraft assembly method |
US15/546,197 US11198520B2 (en) | 2015-01-28 | 2016-01-27 | Aircraft component positioning device, and aircraft assembly system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015014467A JP6523693B2 (ja) | 2015-01-28 | 2015-01-28 | 航空機部品位置決め装置、航空機組立システム及び航空機組立方法 |
JP2015-014467 | 2015-01-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016121825A1 true WO2016121825A1 (ja) | 2016-08-04 |
Family
ID=56543435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/052364 WO2016121825A1 (ja) | 2015-01-28 | 2016-01-27 | 航空機部品位置決め装置、航空機組立システム及び航空機組立方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US11198520B2 (ja) |
EP (1) | EP3239056A4 (ja) |
JP (1) | JP6523693B2 (ja) |
CN (1) | CN107207099B (ja) |
BR (1) | BR112017016025A2 (ja) |
CA (1) | CA2974790C (ja) |
WO (1) | WO2016121825A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2695017C1 (ru) * | 2018-05-22 | 2019-07-18 | Акционерное общество "АВИАСТАР-СП" | Способ динамической сборки агрегатных единиц планеров летательных аппаратов и устройство для его осуществления |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10406593B2 (en) * | 2014-07-09 | 2019-09-10 | The Boeing Company | Method of using a tower for accessing an interior of a fuselage assembly |
BR112019009182A2 (pt) | 2016-11-11 | 2019-07-16 | Mitsubishi Heavy Ind Ltd | método de fabricação de componente e sistema de fabricação de componente |
EP3587242A1 (en) * | 2018-06-28 | 2020-01-01 | BAE SYSTEMS plc | Method and apparatus for assembling aircraft airframes |
US11292614B2 (en) * | 2019-05-28 | 2022-04-05 | The Boeing Company | Method for producing an aircraft |
JP7481829B2 (ja) * | 2019-11-11 | 2024-05-13 | 株式会社Subaru | 組立装置 |
CN112880558A (zh) * | 2021-01-12 | 2021-06-01 | 西北工业大学 | 一种六轴大部件筒段对接虚拟仿真台使用方法 |
EP4119446A1 (en) * | 2021-07-15 | 2023-01-18 | Airbus Operations, S.L.U. | Method for the assembly of frames in an aircraft shell |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009535612A (ja) * | 2006-04-28 | 2009-10-01 | エアバス ドイチェランド ゲゼルシャフト ミット ベシュレンクテル ハフツング | 多数のセグメントからなる物理的構造の寸法の不変性を組立の間に確保するための方法 |
JP4385238B2 (ja) * | 1998-05-11 | 2009-12-16 | ボート エアクラフト インダストリーズ インコーポレイテッド | 航空機座標システムを位置合わせするためのシステムと方法 |
JP2010520104A (ja) * | 2007-02-28 | 2010-06-10 | ザ・ボーイング・カンパニー | 部品アセンブリを嵌合する方法 |
JP4627542B2 (ja) * | 1996-03-22 | 2011-02-09 | ザ・ボーイング・カンパニー | 翼構成部材を組立てるためのシステム |
JP2016016860A (ja) * | 2014-07-09 | 2016-02-01 | ザ・ボーイング・カンパニーTheBoeing Company | フレキシブル製造システムを動作させるための計測にもとづくシステム |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7509740B2 (en) | 2001-11-13 | 2009-03-31 | The Boeing Company | Method of manufacturing a wing |
JPH1077609A (ja) * | 1996-09-02 | 1998-03-24 | Kawada Kogyo Kk | 鋼橋部材製作方法 |
US6230382B1 (en) * | 1998-05-11 | 2001-05-15 | Vought Aircraft Industries, Inc. | System and method for assembling an aircraft |
DE19929471C1 (de) | 1999-06-26 | 2001-01-18 | Eads Airbus Gmbh | Verfahren und Vorrichtung zur Herstellung eines dreidimensionalen Großbauteiles |
JP4273226B2 (ja) | 2003-03-31 | 2009-06-03 | 独立行政法人産業技術総合研究所 | 設置基準要素装置 |
JP4163095B2 (ja) | 2003-11-27 | 2008-10-08 | 富士重工業株式会社 | 組立治具及び翼前縁部組立方法 |
US7398586B2 (en) * | 2005-11-01 | 2008-07-15 | The Boeing Company | Methods and systems for manufacturing a family of aircraft wings and other composite structures |
JP4264763B2 (ja) | 2007-12-27 | 2009-05-20 | 独立行政法人産業技術総合研究所 | 位置測定および配置方法 |
US9676497B2 (en) * | 2010-01-21 | 2017-06-13 | The Boeing Company | High rate pulsing wing assembly line |
JP2011209959A (ja) | 2010-03-29 | 2011-10-20 | Fuji Xerox Co Ltd | 組付受部品の認識構造及びこれを用いた組立情報認識装置並びに組立処理装置 |
US9014836B2 (en) * | 2011-12-15 | 2015-04-21 | The Boeing Company | Autonomous carrier system for moving aircraft structures |
CN102554595B (zh) * | 2012-01-13 | 2014-05-21 | 清华大学 | 用于飞机的蒙皮制造装配系统 |
US9789462B2 (en) | 2013-06-25 | 2017-10-17 | The Boeing Company | Apparatuses and methods for accurate structure marking and marking-assisted structure locating |
CN103921116B (zh) * | 2014-04-24 | 2016-05-11 | 浙江大学 | 一种飞机壁板柔性装配系统 |
FR3029897B1 (fr) * | 2014-12-11 | 2016-12-09 | Airbus | Procede d'installation d'un equipement dans une cabine d'un aeronef |
-
2015
- 2015-01-28 JP JP2015014467A patent/JP6523693B2/ja active Active
-
2016
- 2016-01-27 CN CN201680007410.6A patent/CN107207099B/zh not_active Expired - Fee Related
- 2016-01-27 BR BR112017016025-0A patent/BR112017016025A2/ja not_active IP Right Cessation
- 2016-01-27 WO PCT/JP2016/052364 patent/WO2016121825A1/ja active Application Filing
- 2016-01-27 US US15/546,197 patent/US11198520B2/en active Active
- 2016-01-27 CA CA2974790A patent/CA2974790C/en active Active
- 2016-01-27 EP EP16743428.1A patent/EP3239056A4/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4627542B2 (ja) * | 1996-03-22 | 2011-02-09 | ザ・ボーイング・カンパニー | 翼構成部材を組立てるためのシステム |
JP4385238B2 (ja) * | 1998-05-11 | 2009-12-16 | ボート エアクラフト インダストリーズ インコーポレイテッド | 航空機座標システムを位置合わせするためのシステムと方法 |
JP2009535612A (ja) * | 2006-04-28 | 2009-10-01 | エアバス ドイチェランド ゲゼルシャフト ミット ベシュレンクテル ハフツング | 多数のセグメントからなる物理的構造の寸法の不変性を組立の間に確保するための方法 |
JP2010520104A (ja) * | 2007-02-28 | 2010-06-10 | ザ・ボーイング・カンパニー | 部品アセンブリを嵌合する方法 |
JP2016016860A (ja) * | 2014-07-09 | 2016-02-01 | ザ・ボーイング・カンパニーTheBoeing Company | フレキシブル製造システムを動作させるための計測にもとづくシステム |
Non-Patent Citations (1)
Title |
---|
See also references of EP3239056A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
RU2695017C1 (ru) * | 2018-05-22 | 2019-07-18 | Акционерное общество "АВИАСТАР-СП" | Способ динамической сборки агрегатных единиц планеров летательных аппаратов и устройство для его осуществления |
Also Published As
Publication number | Publication date |
---|---|
CA2974790C (en) | 2020-08-25 |
BR112017016025A2 (ja) | 2018-03-20 |
JP2016137839A (ja) | 2016-08-04 |
EP3239056A4 (en) | 2018-01-17 |
CN107207099B (zh) | 2019-12-03 |
CN107207099A (zh) | 2017-09-26 |
US11198520B2 (en) | 2021-12-14 |
US20170369186A1 (en) | 2017-12-28 |
JP6523693B2 (ja) | 2019-06-05 |
CA2974790A1 (en) | 2016-08-04 |
EP3239056A1 (en) | 2017-11-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016121825A1 (ja) | 航空機部品位置決め装置、航空機組立システム及び航空機組立方法 | |
CN110147084B (zh) | 用于操作柔性制造系统的基于计量的系统 | |
Tian et al. | Auto-normalization algorithm for robotic precision drilling system in aircraft component assembly | |
EP3199298B1 (en) | Determining hole locations for parts | |
EP2116340A1 (en) | Synchronous robotic operation on a structure having a confined space | |
US11040783B2 (en) | Component manufacturing method and component manufacturing system | |
US10393504B2 (en) | Optical coordinate measurement system | |
US11851212B2 (en) | Method and apparatus for producing component parts of aircraft airframes | |
JP7060475B2 (ja) | 自動リベット測定システム | |
EP3134781B1 (en) | Airframe production | |
EP3134782B1 (en) | Object production | |
JP5837038B2 (ja) | スタッドの少なくとも1つの寸法についての適合可能な公差範囲を有するスタッドを加工物に接合するための方法及び装置 | |
US9656319B2 (en) | Positioning system for electromagnetic riveting | |
WO2017006740A1 (ja) | 構造体 | |
JP6838076B2 (ja) | 部品製造方法及び部品製造システム | |
US10640235B2 (en) | Production of airframe components | |
CA2895735A1 (en) | Clamping feet for an end effector | |
US20170045875A1 (en) | Machining fixture production |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16743428 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2974790 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15546197 Country of ref document: US |
|
REEP | Request for entry into the european phase |
Ref document number: 2016743428 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112017016025 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112017016025 Country of ref document: BR Kind code of ref document: A2 Effective date: 20170726 |