Aircraft section docking device

Abstract

The present application relates to the field of aircraft manufacturing equipment, in particular to an aircraft section butt joint device, which comprises a fixed section support mechanism and a butt joint section support mechanism, at least one of the fixed section support mechanism and the butt joint section support mechanism is provided with a moving support device capable of moving along the section axial direction to the other, and at least one of the fixed section support mechanism and the butt joint section support mechanism is provided with a rotating support device capable of driving the corresponding section to rotate. In use, when the sections to be connected are centered, the moving support device can be used to drive the sections to move close to each other, and the rotating support device can be used to drive the sections to be screwed to each other, so as to realize the butt joint of the threaded connection sections, and solve the problem that the existing section butt joint device cannot realize the butt joint between the threaded connection sections.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft manufacturing equipment, in particular to an aircraft section docking device. BACKGROUND

[0002] Due to the large size, the aircraft cabin is often in the form of multi-section docking structure. Therefore, in the manufacturing stage of the aircraft, the section docking is a very critical process. In the traditional process, the docking of the aircraft section is mostly manually assisted by simple tooling, which is not only low in efficiency, but also low in assembly precision, which will affect the quality of the aircraft to some extent.

[0003] In recent years, with the continuous development of robot technology, the Chinese invention patent application with the application publication number CN112917142A and the application publication date of June 8, 2021 provides an orthopedic and posture adjustment integrated docking platform, which includes a support base, an orthopedic mechanism, a main body posture adjustment mechanism, an axial movement mechanism, a precise posture adjustment platform (parallel mechanism), a docking driving mechanism, a visual measurement system and a system pose adjustment device. The orthopedic mechanism is installed on the main body posture adjustment mechanism, the main body posture adjustment mechanism is installed on the axial movement mechanism, and can be driven to move axially along the support base through the axial movement mechanism. When in use, one of the cabin sections can be orthopedic, supported and adjusted in posture through the two orthopedic mechanisms and the main body posture adjustment mechanism. The precise posture adjustment platform is installed at one end of the support platform and is used for supporting and adjusting the attitude of the other cabin section. The visual measurement system is installed on the visual measurement system pose adjustment device, and the visual measurement system pose adjustment device is installed on the support base, which can be used to determine the spatial attitude of the two cabin sections and control the main body posture adjustment mechanism or the precise posture adjustment platform to drive the cabin section to be centered.

[0004] The above docking platform can effectively realize the automatic and accurate centering of the sections to be connected by introducing the parallel system and the visual measurement system, but in some aircraft products, the connection between the adjacent sections is a threaded connection. The above docking platform does not disclose how to realize the threaded connection of the two sections. SUMMARY

[0005] The purpose of the present application is to provide an aircraft section docking device to solve the problem that the existing section docking device cannot dock the sections that need to be threaded.

[0006] In order to solve the above problems, the aircraft section docking device of the present application adopts the following technical scheme: the aircraft section docking device comprises a fixed section support mechanism and a docking section support mechanism, at least one of the fixed section support mechanism and the docking section support mechanism is provided with a moving support device capable of moving along the section axial direction to the other, and at least one of the fixed section support mechanism and the docking section support mechanism is provided with a rotating support device capable of driving the corresponding section to rotate.

[0007] Beneficial effects: the present application is an improved invention, by setting the moving support device on at least one of the fixed section support mechanism and the docking section support mechanism, and setting the rotating support device on at least one of the two, when the sections to be connected are centered, the moving support device can drive the sections to approach each other, and the rotating support device can drive the sections to be screwed together, thereby realizing the docking of the threaded connection sections, and solving the problem that the existing section docking device cannot dock the sections connected by threads.

[0008] Further, the moving support device is provided with an elastic device for driving it to move in the section docking direction, and the moving support device also has an active stroke moving towards the back, which is not less than the axial screwing length of the two sections to be docked. The active stroke and the elastic device can actively drive the sections to approach each other during docking, and can compensate for the relative position change between the sections during mutual screwing, thereby ensuring the smooth docking operation.

[0009] Further, the moving support device is provided with a proximity switch for controlling the driving mechanism switch, and the driving mechanism is used to push the moving support device backward. The proximity switch can realize automatic control of the device during section docking, and plays a role in protecting the device.

[0010] Further, the moving support device is provided with a guide rail, and the proximity switch is arranged at one side of the guide rail. The guide rail ensures the accuracy of the moving path of the moving support device, and the proximity switch arranged at one side of the guide rail will reliably block the moving path of the moving support device, avoiding misalignment.

[0011] Further, the moving support device comprises a moving platform and a bearing plate supported on the moving platform by an elastic component. The bearing plate is supported on the moving platform by the elastic component, which can automatically correct the posture of the section supported thereon.

[0012] Further, the fixed section support mechanism comprises a fixed clamping ring assembly for clamping the section. The fixed clamping ring assembly is used to fix the section, which has the advantages of high operation efficiency and reliable fixation.

[0013] Further, the rotating supporting device is provided with a rotating driving device for driving the rotating part to rotate. The rotating driving device can further realize automatic screwing between the segments, and has high efficiency and can reduce the labor intensity of workers.

[0014] Further, the rotating supporting device comprises two or more coaxially and spacedly arranged rolling clamping rings, and the rotating driving device is in transmission connection with at least one rolling clamping ring. The rolling clamping rings arranged in axial direction as the rotating supporting device have the advantages of simple structure and light weight.

[0015] Further, the rotating supporting device is provided with a stop device for stopping the end of the segment, so as to prevent the segment from retreating during screwing.

[0016] Further, the stop device is provided with a rolling body for rolling cooperation with the end of the segment. The rolling body can avoid sliding friction and play a role in protecting the segment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 a perspective view of an embodiment of the aircraft segment docking device;

[0018] Figure 2 a front view of an embodiment of the aircraft segment docking device;

[0019] Figure 3 a top view of an embodiment of the aircraft segment docking device;

[0020] Figure 4 a right view of an embodiment of the aircraft segment docking device;

[0021] Figure 5 a perspective view of the docking segment supporting mechanism of the aircraft segment docking device in Figure 1

[0022] a front view of the docking segment supporting mechanism of the aircraft segment docking device in Figure 6 Figure 1 a top view of the docking segment supporting mechanism of the aircraft segment docking device in

[0023] Figure 7 Figure 1 a right view of the docking segment supporting mechanism of the aircraft segment docking device in

[0024] Figure 8 a perspective view of the docking segment supporting mechanism of the aircraft segment docking device in Figure 1

[0025] a front view of the docking segment supporting mechanism of the aircraft segment docking device in Figure 9 Figure 1 ​​​A three-dimensional view of the front and rear retaining rings of the docking device for aircraft sections;

[0026] Figure 10 for Figure 1 A perspective view of the front roller assembly of the docking section of the aircraft segment docking device;

[0027] Figure 11 for Figure 1 A top view of the front roller assembly of the docking section of the aircraft segment docking device;

[0028] Figure 12 for Figure 1 A perspective view of the tail limit assembly of the docking section of the aircraft segment docking device;

[0029] Figure 13 for Figure 1 A perspective view of the fixed section support mechanism of the docking device for aircraft sections;

[0030] Figure 14 for Figure 1 Front view of the fixed section support mechanism of the docking device for aircraft sections;

[0031] Figure 15 for Figure 1 Right view of the fixed section support mechanism of the aircraft section docking device;

[0032] Figure 16 for Figure 1 A top view of the fixed section support mechanism of the docking device for aircraft sections;

[0033] Figure 17 for Figure 1 A three-dimensional view of the attitude laser detection mechanism of the docking device for aircraft sections;

[0034] Figure 18 for Figure 1 Front view of the attitude laser detection mechanism of the docking device for aircraft segments;

[0035] Figure 19 for Figure 1 Right view of the attitude laser detection mechanism for the automatic alignment device used in aircraft sections;

[0036] Figure 20 for Figure 1 A top view of the attitude laser detection mechanism of the docking device for aircraft segments.

[0037] In the figure: 101, fixed section support mechanism; 11, fixed support seat; 12, moving support device; 121, moving platform; 122, bearing plate; 123, sliding block; 124, sliding rail; 125, disc spring; 126, elastic device; 127, spring seat; 128, fixed clamping ring; 102, docking section support mechanism; 21, rotating support device; 211, rolling clamping ring; 212, clamping ring support; 2121, roller frame; 2122, roller shaft; 2123, roller; 2124, limiting shaft sleeve; 22, rotating drive device; 23, speed reducer; 24, abutting device; 241, guide fixed seat; 242, guide clamping seat; 243, clamping spring; 244, adjusting rod; 245, limiting shaft support; 246, limiting shaft; 247, limiting shaft gland; 248, rolling body; 103, pose laser detection mechanism; 31, component mounting seat; 32, module mounting seat; 33, linear motion module; 34, laser mounting plate; 35, pose scanning laser; 104, docking base; 41, T-shaped slot; 105, proximity switch. DETAILED DESCRIPTION

[0038] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and shown in the drawings can be arranged and designed in various different configurations.

[0039] Therefore, the detailed description of the embodiments of the present application provided in the drawings below is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0040] The features and performances of the present application are further described in detail below in combination with embodiments.

[0041] Embodiments of the aircraft section docking device of the present application:

[0042] As Figures 1-4As shown, the main components of the aircraft section docking device include a fixed section support mechanism 101, a docking section support mechanism 102, and a pose laser detection mechanism 103. The fixed section support mechanism 101 and the docking section support mechanism 102 are both fixedly arranged on a docking base 104, and the fixed section support mechanism 101 is adjustable in position relative to the docking base 104 in a direction perpendicular to the section to be docked, and the adjustment of the position is achieved by moving the fastener along the T-shaped slot 41 provided on the docking base 104.

[0043] Figures 13-16 The structure of the fixed section support mechanism is shown. The function of the fixed section support mechanism 101 is to fix the aircraft section to be docked. Since the section fixed by the fixed section support mechanism 101 cannot rotate relative to the mechanism, the fixed section support mechanism 101 is named accordingly. In the present embodiment, as shown, Figures 13-16 The main components of the fixed section support mechanism 101 include a fixed support seat 11 and a moving support device 12. The fixed support seat 11 includes a leg and a table surface, and has a frame structure as a whole. The moving support device 12 includes a moving platform 121, a bearing plate 122 arranged on the moving platform 121, and a section fixing device arranged on the bearing plate 122. The moving platform 121 is guided by the slide block 123 and the slide rail 124 with the table surface of the fixed support seat 11, and the guiding direction is the docking direction of the section to be docked.

[0044] The bearing plate 122 is supported on the moving platform 121 by elastic components. In the present embodiment, four elastic components are arranged to support the four points of the bearing plate 122. The attitude of the bearing plate 122 can be automatically adjusted by the elastic deformation of the elastic components, so as to automatically adjust the attitude of the section supported thereby. The elastic components in the present embodiment are disc springs 125. Of course, those skilled in the art should know that, in order to achieve the effects of the present application, the number of elastic components can also be three in other embodiments, the three elastic components are arranged in a triangular shape, or more elastic components are used, and the elastic components can be coil springs, leaf springs, etc.

[0045] The mobile platform 121 is provided with an active stroke at the side far from the docking section support mechanism 102, within which the mobile platform 121 can reciprocate, and the mobile platform 121 is provided with elastic devices 126, which store energy by deforming when the mobile platform 121 moves away from the docking section support mechanism 102, and then drive the mobile platform 121 to move towards the docking section support mechanism 102 by releasing energy, thereby compensating for the axial relative displacement between the two sections during the docking process. In this embodiment, the elastic devices 126 are compression springs, which are top-mounted between the spring seat 127 and the mobile platform 121. However, those skilled in the art should know that in other embodiments, the elastic devices 126 can also be tension springs, in which case the spring seat can be moved to the opposite side of its current position, or to both sides of its current position and extend in the left and right directions.

[0046] The section fixing device is used to fix the sections to be docked relative to the bearing plate 122. In this embodiment, the section fixing device is a fixed clamping ring assembly, which is composed of two coaxial and spaced fixed clamping rings 128, each of which is fixed to the vertical wall formed by bending upwards at the edge of the bearing platform. In use, the two clamping rings can clamp the sections at different positions, thereby achieving clamping and fixing of the sections. Although the fixed clamping ring assembly is used as the section fixing device in this embodiment, in other embodiments, the section fixing device can also use structures such as fixed straps, pressing rods, and fixed clamps to meet the needs of fixing the sections.

[0047] In order to limit the active stroke of the mobile platform 121, the fixed support seat 11 is provided with a proximity switch 105 at one side of the guide rail, which will be touched by the mobile platform 121 when it moves to this position, and then control the driving mechanism (the mechanism that pushes the mobile support device backward).

[0048] Figures 5-12 The structure of the docking section support mechanism is shown. The docking section support mechanism 102 is used to drive the aircraft sections to be docked to dock with the fixed aircraft sections, hence the name. The docking section support mechanism 102 is provided with a rotating support device 21, which is used to support the sections and drive the sections to rotate, thereby achieving threaded connection with the fixed sections supported by the fixed section support mechanism 101.

[0049] In order to be able to adjust the pose to accurately center the segment on the fixed segment support mechanism 101, the docking segment support mechanism 102 comprises a multi-degree-of-freedom platform, which in one embodiment is a parallel mechanism. The specific structure and working principle of the parallel mechanism are prior art and will not be described here. However, it is particularly emphasized here that in order to achieve adjustment of the segment pose, in addition to using a parallel mechanism, a flexible six-degree-of-freedom pose adjustment platform (see CN107932361A), an orthopedic pose adjustment integrated docking platform (see CN112917142A), etc. can also be used, which will not be described here.

[0050] The rotating support device 21 comprises two rolling clamping rings 211 arranged axially apart to form a rolling clamping ring assembly. The rolling clamping ring 211 is mounted on the upper platform of the parallel mechanism through a clamping ring support 212, the structure of which is shown in Figures 10-11 The clamping ring support 212 comprises a roller frame 2121, a roller shaft 2122 mounted on the roller frame 2121, a roller 2123 mounted on the roller shaft 2122, and a limiting shaft sleeve 2124 mounted on the roller shaft 2122, wherein the limiting shaft sleeve 2124 functions to axially limit the roller 2123, and the roller 2123 is a grooved roller that can function to position the rolling clamping ring 211. In one embodiment, two rolling clamping rings 211 are provided, but in some embodiments, the number of rolling clamping rings 211 can also be set as needed, for example, three, four, five, etc., to clasp different positions of the segment.

[0051] The rotating support device 21 is configured with a rotating drive device 22 for driving the rotating part of the rotating support device 21 to rotate to actively drive the corresponding segment to rotate. In the present embodiment, the rotating drive device 22 is a first motor, which is drivingly connected to the rolling clamping ring 211 through a speed reducer 23. In the present embodiment, the speed reducer 23 is formed by a gear reduction mechanism, which comprises a pinion connected to the rotating drive device 22 and a large gear ring mounted on the fixed clamping ring 211. Although a gear transmission structure is used here, those skilled in the art will understand that in some embodiments, a belt transmission connection, a shaft coupling transmission connection, etc. can also be used between the rotating drive device and the rolling clamping ring.

[0052] In order to prevent the section on the rotating support device 21 from being axially offset during the docking process, an abutting device 24 is arranged on the upper platform of the parallel mechanism, which is located on the side of the rotating support device away from the fixed section support mechanism, and can prevent the section on the rotating support device 21 from retreating. In this embodiment, the abutting device 24 includes a guide fixed seat 241, a guide clamping seat 242 combined with the guide fixed seat 241, an adjusting rod 244 fixed to the guide clamping seat 242, a limiting shaft support 245 fixed at the end of the adjusting rod 244 away from the guide fixed seat 241, a limiting shaft 246 tightly fixed to the limiting shaft support 245, a limiting shaft cover 247, and a rolling body 248 arranged on the limiting shaft 246 and capable of rolling with the end of the section. In this embodiment, the rolling body 248 is an axis rolling body, specifically a roller, which is mounted on the limiting shaft 246 by a snap spring 243 to prevent it from falling off. In some embodiments, in order to achieve the rolling cooperation between the abutting device and the end face of the section, the rolling body can also be a universal rolling body, such as a universal ball or the like.

[0053] As shown in Figures 17-20 The pose laser detection mechanism 103 is used to scan the pose of the section to be docked. The parallel mechanism of the docking section support mechanism 102 adjusts the attitude according to the pose adjustment data fed back by the pose laser detection mechanism 103, so that the axis of the docking section (the section on the docking section support mechanism) coincides with the axis of the fixed section (the section on the fixed section support mechanism) and is fed along the axis. In one embodiment, the pose laser detection mechanism 103 includes an assembly mounting seat 31, a module mounting seat 32, a linear running module 33, a laser mounting plate 34, and a pose scanning laser 35. The assembly mounting seat 31 is fixed to the fixed support seat 11 of the fixed section support mechanism 101 and located on one side of the moving platform 121. The linear running module 33 (a motor-driven screw nut mechanism) is fixed to the assembly mounting seat 31. The laser mounting plate 34 is mounted on the linear running module 33 and can move back and forth along a straight line. The pose scanning laser 35 is mounted on the laser mounting plate 34. During use, the pose scanning laser is driven to move back and forth by the linear running module, so as to scan the pose of the section to be docked.

[0054] When the device is used to dock the aircraft sections, one of the sections is fixed on the fixed section support mechanism 101, the other section is installed on the docking section support mechanism 102, the upper platform of the parallel mechanism is driven by the motor of the parallel mechanism to move, the two sections are centered to each other, then the docking section support mechanism 102 moves to the fixed section support mechanism 101, overcomes the resistance of the elastic device 126, and pushes the moving platform 121 of the fixed section support mechanism 101, until the moving platform 121 pushes the proximity switch 105, the upper platform of the parallel mechanism stops moving, at this time the rotating driving device 22 drives the rolling holding ring to rotate, and drives the section on it to rotate, the two sections are threadedly connected, in the process of threadedly rotating, the elastic device 126 releases energy and drives the fixed section support mechanism to automatically move, to adapt to the relative position change between the two sections.

[0055] In the above embodiments, the fixed section support mechanism and the docking section support mechanism are respectively arranged on different bearing tables, however, in some cases, the two can be integrated, for example, the rotating support device, the rotating driving device and other components of the docking section support mechanism are installed on the moving platform, or the moving platform and the components thereon are arranged on the upper platform of the parallel mechanism, such structure can also achieve the effect of docking the two sections with threadedly connected.

Claims

1. An aircraft section docking apparatus comprising a fixed section support mechanism and a docking section support mechanism, characterised in that, At least one of the fixed segment support mechanism and the docking segment support mechanism is provided with a moving support device capable of moving axially along the segment to the other, and at least one of the fixed segment support mechanism and the docking segment support mechanism is provided with a rotating support device capable of driving the corresponding segment to rotate to realize the threaded connection; the moving support device is configured with an elastic device for driving it to move to the segment docking direction, and the moving support device also has an active stroke active to the back, and the active stroke is not less than the axial screwing length of the two segments to be docked.

2. The aircraft section docking device of Claim 1, wherein, The moving support device is configured with a proximity switch for controlling the driving mechanism switch, and the driving mechanism is used to push the moving support device backward.

3. The aircraft section docking device of Claim 2, wherein, The moving support device is configured with a guide rail, and the proximity switch is arranged at one side of the guide rail.

4. The aircraft section docking device of Claim 2, wherein, The moving support device comprises a moving platform and a bearing plate supported on the moving platform by an elastic component.

5. The aircraft section docking device of Claim 1, wherein, The fixed segment support mechanism comprises a fixed clamping ring assembly for clamping the segment.

6. The aircraft section docking device according to claim 1 or 2 or 4 or 5, characterized in that The rotating support device is configured with a rotating driving device for driving the rotating part to rotate.

7. The aircraft section docking device of Claim 6, wherein, The rotating support device comprises two or more coaxially and spacedly arranged rolling clamping rings, and the rotating driving device is in transmission connection with at least one rolling clamping ring.

8. The aircraft section docking device of Claim 6, wherein, The rotating support device is provided with an abutting device for abutting against the end of the segment to prevent the segment from retreating when being screwed.

9. The aircraft section docking device of Claim 8, wherein, The abutting device is provided with a rolling body for rolling cooperation with the end of the segment.

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