Digital assembly system and control method for middle fuselage of helicopter

Abstract

The application discloses a helicopter middle fuselage digital assembly system and a control method thereof. The helicopter middle fuselage digital assembly system comprises a base, a fuselage top plate shape retaining frame, a fuselage top plate positioning support, a fuselage floor shape retaining frame, four floor attitude adjusting devices, two side part positioning tools, an automatic guided vehicle, a measuring device and a control system. The fuselage top plate shape retaining frame is provided with a fuselage top plate clamping device. The fuselage floor shape retaining frame is provided with a fuselage floor clamping device. The four floor attitude adjusting devices are arranged at intervals and the inner sides thereof define a parking space. The two side part positioning tools are movably arranged on the base in a second direction. The side part positioning tools are provided with a scattered frame positioning device and a skin positioning device. The automatic guided vehicle is provided with a vehicle-mounted jacking device. The measuring device is arranged on the automatic guided vehicle. The control system is arranged on the base. The helicopter middle fuselage digital assembly system has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

Description

Technical Field

[0001] This invention relates to the field of helicopter manufacturing technology, and more specifically, to a digital assembly system for the mid-fuselage of a helicopter and a control method for the digital assembly system for the mid-fuselage of a helicopter. Background Technology

[0002] The assembly of complex aircraft such as helicopter fuselages in related technologies mainly relies on manual assembly. Some specific parts are positioned using targeted tooling. However, due to the large size of the parts, they are prone to deformation during manual assembly and transportation, making it difficult to guarantee assembly accuracy and quality. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a digital assembly system for the mid-fuselage of a helicopter, which has the advantages of high assembly precision, good assembly quality, and high assembly efficiency.

[0004] The present invention also proposes a control method for the digital assembly system of the mid-fuselage of the helicopter.

[0005] To achieve the above objectives, according to an embodiment of the first aspect of the present invention, a digital assembly system for the mid-fuselage of a helicopter is provided. The digital assembly system includes: a base; a fuselage top plate conformal frame, on which a fuselage top plate clamping device is provided, the fuselage top plate clamping device including four top plate clamping members located on the outer sides of four edges of the helicopter's fuselage top plate, the four top plate clamping members being adapted to clamp or release the fuselage top plate, the lower surface of the fuselage top plate conformal frame having four spaced-apart top ball heads; and a fuselage top plate positioning bracket, the upper surface of which has four top ball heads. A ball joint positioning device, wherein four top ball joints are respectively adapted to be detachably fitted within the four top ball joint positioning devices; a fuselage floor conformal frame, wherein a fuselage floor clamping device is provided on the fuselage floor conformal frame, the fuselage floor clamping device including four floor clamping members respectively located on the outer sides of the four edges of the helicopter fuselage floor, the four floor clamping members being adapted to clamp or release the fuselage floor, and the lower surface of the fuselage floor conformal frame being provided with a guide car connecting ball joint and four bottom ball joints; four floor attitude adjustment devices, each of the floor attitude adjustment devices having a bottom ball joint positioning device at its upper end and being adapted to drive in a first direction, a second direction, and a vertical direction. The bottom ball joint positioning device is actuated, with the first direction and the second direction both being horizontal and perpendicular to each other. Four bottom ball joints are respectively adapted to be detachably fitted within the four bottom ball joint positioning devices. Four floor attitude adjustment devices are spaced apart and define a parking space on their inner sides. Two side positioning fixtures are horizontally movable along the second direction and mounted on the base, respectively located on both sides of the fuselage top plate positioning bracket in the second direction. Each side positioning fixture is equipped with a frame positioning device and a skin positioning device. The frame positioning device is adapted to lock or release the helicopter's fuselage frame, and the skin... The positioning device is suitable for locking or releasing the fuselage skin of the helicopter; an automated guided vehicle (AGV) that is horizontally movable on the base and suitable for entering and exiting the parking space, the AAV being equipped with a vehicle-mounted lifting device, the vehicle-mounted lifting device being equipped with a vehicle-mounted ball joint positioning device, the ball joint of the AAV being detachably fitted into the vehicle-mounted ball joint positioning device; a measuring device, the measuring device being disposed on the base and used to measure the position and attitude of the fuselage top plate, the fuselage floor, the fuselage frame, and the fuselage skin; and a control system, the control system being electrically connected to the measuring device and the four floor attitude adjustment devices respectively.

[0006] The helicopter mid-fuselage digital assembly system according to an embodiment of the present invention has the advantages of high assembly precision, good assembly quality, and high assembly efficiency.

[0007] In addition, the helicopter mid-fuselage digital assembly system according to the above embodiments of the present invention may also have the following additional technical features:

[0008] According to one embodiment of the present invention, the fuselage top plate positioning bracket includes four columns and a top frame. The columns are disposed on the base, and the top frame is connected to the upper ends of the four columns respectively. The top ball-head positioning device is disposed on the upper surface of the top frame.

[0009] According to one embodiment of the present invention, the inner sides of the four columns define an installation space, and the four floor adjustment devices are all disposed within the installation space.

[0010] According to one embodiment of the present invention, each of the floor adjustment devices includes: a base disposed on the pedestal; a first directional moving platform slidably disposed on the base along a first direction; a second directional moving platform slidably disposed on the first directional moving platform along a second direction; a vertical moving platform movably disposed on the second directional moving platform, and a bottom ball-end positioning device disposed at the upper end of the vertical moving platform; a first driving device, which is drively connected to the first directional moving platform; a second driving device, which is drively connected to the second directional moving platform; and a vertical driving device, which is drively connected to the vertical moving platform.

[0011] According to an embodiment of the present invention, the side positioning fixture includes two spaced-apart side columns, four horizontal connecting rods and a mounting frame. The side columns are movably mounted on the base in the second direction. Each side column is provided with two vertically spaced horizontal connecting rods. One end of each horizontal connecting rod is connected to the side column and the other end is connected to the mounting frame. The frame positioning device and the skin positioning device are provided on the mounting frame.

[0012] According to one embodiment of the present invention, the helicopter mid-fuselage digital assembly system further includes two lifting work ladders adapted to carry operators, and the two lifting work ladders are respectively located outside the two mounting frames in the second direction.

[0013] According to one embodiment of the present invention, there are two measuring devices, which are spaced apart in both the first direction and the second direction.

[0014] According to one embodiment of the present invention, each of the top plate clamping members is connected to a plurality of top plate clamping member driving devices. Each top plate clamping member driving device includes a top plate clamping member driving seat, a top plate clamping member driving screw, and a top plate clamping member driving wheel. The top plate clamping member driving seat is disposed on the conformal frame of the fuselage top plate. The top plate clamping member driving screw is connected to both the top plate clamping member and the top plate clamping member driving wheel and is threadedly engaged with the top plate clamping member driving seat. Similarly, each of the floor clamping members is connected to a plurality of floor clamping member driving devices. Each floor clamping member driving device includes a floor clamping member driving seat, a floor clamping member driving screw, and a floor clamping member driving wheel. The floor clamping member driving seat is disposed on the fuselage floor conformal frame. The floor clamping member driving screw is connected to both the floor clamping member and the floor clamping member driving wheel and is threadedly engaged with the floor clamping member driving seat.

[0015] According to one embodiment of the present invention, the top ball joint positioning device, the bottom ball joint positioning device, and the vehicle-mounted ball joint positioning device are all ball joint positioners. The ball joint positioner includes: a lock body, the upper surface of which is provided with a ball socket suitable for accommodating a ball joint; a bolt, which is movably disposed on the lock body between a release position, an anti-disengagement position, and a locking position, wherein the bolt allows the ball joint to disengage from the ball socket when in the release position, prevents the ball joint from disengaging from the ball socket and allows the ball joint to rotate relative to the ball socket when in the anti-disengagement position, and prevents the ball joint from disengaging from the ball socket and preventing the ball joint from rotating relative to the ball socket when in the locking position; and a locking drive device, which is kinetically connected to the bolt.

[0016] According to an embodiment of the second aspect of the present invention, a control method for a helicopter mid-fuselage digital assembly system according to an embodiment of the first aspect of the present invention is provided, comprising the following steps:

[0017] The two side positioning fixtures move outward to hoist the conformal frame of the fuselage top plate, which holds the fuselage top plate, to the fuselage top plate positioning bracket, and fit the top ball head into the top ball head positioning device;

[0018] The automated guided vehicle transports the conformal frame of the fuselage floor, which holds the fuselage floor, to the parking space. The vehicle-mounted lifting device lowers, and the floor adjustment device drives the bottom ball joint positioning device to align with the bottom ball joint. The bottom ball joint fits into the bottom ball joint positioning device. The guide vehicle connects the ball joint to disengage from the vehicle-mounted ball joint positioning device, and the automated guided vehicle drives out of the parking space.

[0019] The four floor adjustment devices adjust the position and orientation of the fuselage floor according to the detection results of the measuring device;

[0020] The operator uses the frame positioning device to lock the frame of the machine body, the side positioning fixture moves inward, and the operator completes the connection and installation of the frame of the machine body.

[0021] The side positioning fixture moves outward, and the operator uses the skin positioning device to lock the fuselage skin. The side positioning fixture moves inward, and the operator completes the connection and installation of the fuselage skin.

[0022] The side positioning fixture moves outward, the top plate conformal frame releases the top plate, and the top plate conformal frame moves to disengage the top ball head from the top ball head positioning device.

[0023] The automated guided vehicle enters the parking space, the on-board lifting device rises to support the body floor conformal frame, the guide vehicle connecting ball joint engages with the on-board ball joint positioning device, the bottom ball joint disengages from the bottom ball joint positioning device, and the automated guided vehicle drives out of the parking space.

[0024] The control method for the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention has the advantages of high assembly accuracy, good assembly quality, and high assembly efficiency by utilizing the helicopter mid-fuselage digital assembly system described in the first aspect of the present invention.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0027] Figure 1 This is a schematic diagram of the structure of a helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the fuselage top plate conformal frame and fuselage top plate positioning bracket of the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the conformal frame of the fuselage top plate of the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0030] Figure 4 This is a structural schematic diagram of the fuselage floor conformal frame and floor attitude adjustment device of the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0031] Figure 5This is a schematic diagram of the fuselage floor conformal frame of the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the side positioning tooling of the helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0033] Figure 7 This is a flowchart of a control method for a helicopter mid-fuselage digital assembly system according to an embodiment of the present invention.

[0034] Reference numerals: 1. Digital assembly system for the mid-fuselage of a helicopter; 10. Conformal frame for the fuselage top plate; 11. Top plate clamping component; 12. Top plate clamping component drive device; 13. Top ball joint; 20. Top plate positioning bracket; 21. Top ball joint positioning device; 22. Column; 23. Top frame; 30. Conformal frame for the fuselage floor; 31. Floor clamping component; 32. Floor clamping component drive device; 33. Bottom ball joint; 34. Guide trolley connecting ball joint; 40. Floor attitude adjustment device; 41. Bottom ball joint positioning device; 42. Base; 43. First direction moving platform; 44. Second direction moving platform; 45. Vertical moving platform; 50. Side positioning fixture; 51. Side column; 52. Horizontal connecting rod; 53. Mounting frame; 60. Automatic guide trolley; 61. Vehicle-mounted lifting device; 70. Measuring device; 80. Lifting work ladder; 2. Fuselage top plate; 3. Fuselage floor; 4. Fuselage frame; 5. Fuselage skin; 6. Operator. Detailed Implementation

[0035] This application is based on the inventor's discoveries and understanding of the following facts and problems:

[0036] The assembly of complex aircraft such as helicopter fuselages in related technologies mainly relies on manual assembly. Some specific parts are positioned using targeted tooling. However, due to the large size of the parts, they are prone to deformation during manual assembly and transportation, making it difficult to guarantee assembly accuracy and quality.

[0037] Specifically, manual assembly requires frequent transport of assembled parts between various workstations. Due to the large size of the parts, they are prone to deformation during transportation due to uneven stress, which reduces the assembly quality.

[0038] In addition, due to the large size of the components, the manual assembly process itself is prone to uneven stress on the parts, which can cause deformation and further reduce the assembly quality.

[0039] In addition, after the fuselage components are assembled, they need to be drilled. Some of the positioning fixtures in the relevant technology cover a large part of the fuselage, which greatly interferes with the drilling operation and makes it difficult for operators to perform the drilling operation.

[0040] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] The following description, with reference to the accompanying drawings, describes a helicopter mid-fuselage digital assembly system 1 according to an embodiment of the present invention.

[0044] like Figures 1-7 As shown, the helicopter mid-fuselage digital assembly system 1 according to an embodiment of the present invention includes a base, a fuselage top plate conformal frame 10, a fuselage top plate positioning bracket 20, a fuselage floor conformal frame 30, four floor attitude adjustment devices 40, two side positioning fixtures 50, an automatic guide vehicle 60, a measuring device 70, and a control system.

[0045] The base can be on the ground or a stand-alone base.

[0046] The conformal frame 10 for the fuselage top plate is equipped with a fuselage top plate clamping device. This device includes four top plate clamping members 11 located on the outer sides of the four edges of the helicopter's fuselage top plate 2. These four clamping members 11 are adapted to clamp or release the fuselage top plate 2. The lower surface of the conformal frame 10 has four spaced-apart top ball heads 13 (indicated by arrows in the figure). It should be understood that the four clamping members 11 being located on the outer sides of the four edges of the helicopter's fuselage top plate 2 refers to the state in which the clamping members 11 are holding the fuselage top plate 2.

[0047] The upper surface of the fuselage top plate positioning bracket 20 is provided with four top ball head positioning devices 21, and the four top ball heads 13 are respectively adapted to be detachably fitted in the four top ball head positioning devices 21.

[0048] The conformal frame 30 for the fuselage floor is equipped with a fuselage floor clamping device, which includes four floor clamping members 31 located on the outer sides of the four edges of the helicopter's fuselage floor 3. The four floor clamping members 31 are adapted to clamp or release the fuselage floor 3. The lower surface of the conformal frame 30 is provided with guide car connecting ball joints 34 and four bottom ball joints 33. It should be understood that the four floor clamping members 31 being located on the outer sides of the four edges of the helicopter's fuselage floor 3 refers to the state in which the floor clamping members 31 are clamping the fuselage floor 3.

[0049] Each floor adjustment device 40 is provided with a bottom ball head positioning device 41 at its upper end, and the floor adjustment device 40 is adapted to drive the bottom ball head positioning device 41 in a first direction, a second direction and a vertical direction. The first direction and the second direction are both horizontal and perpendicular to each other. The four bottom ball heads 33 are adapted to be detachably engaged in the four bottom ball head positioning devices 41. The four floor adjustment devices 40 are spaced apart and the inner side defines the parking space.

[0050] Two side positioning fixtures 50 are horizontally movable on the base along the second direction and are respectively located on both sides of the fuselage top plate positioning bracket 20 in the second direction. The side positioning fixtures 50 are provided with a frame positioning device and a skin positioning device. The frame positioning device is adapted to lock or release the fuselage frame 4 of the helicopter, and the skin positioning device is adapted to lock or release the fuselage skin 5 of the helicopter.

[0051] The automated guided vehicle 60 is horizontally movable on the base and is suitable for entering and exiting the parking space. The automated guided vehicle 60 is equipped with a vehicle-mounted lifting device 61, and the vehicle-mounted lifting device 61 is equipped with a vehicle-mounted ball joint positioning device. The guide vehicle connecting ball joint 34 is adapted to be detachably engaged in the vehicle-mounted ball joint positioning device.

[0052] The measuring device 70 is mounted on the base and is used to measure the position and orientation of the fuselage top plate 2, fuselage floor 3, fuselage frame 4, and fuselage skin 5.

[0053] The control system is electrically connected to the measuring device 70 and the four floor posture adjustment devices 40, respectively.

[0054] Specifically, the figure shows an embodiment in which the first direction is oriented along the length of the central fuselage of the helicopter and the second direction is oriented along the width of the central fuselage.

[0055] By setting up the fuselage top plate conformal frame 10, the four top plate clamping parts 11 of the fuselage top plate conformal frame 10 can be used to clamp and position the fuselage top plate 2. Since the four top plate clamping parts 11 clamp the fuselage top plate 2 from the four edges of the fuselage top plate 2 respectively, the force on the fuselage top plate 2 can be more even, avoiding deformation of the fuselage top plate 2 and affecting the assembly quality.

[0056] The top ball joint 13 and the top ball joint positioning device 21 enable the detachable connection between the fuselage top plate conformal frame 10 and the fuselage top plate positioning bracket 20.

[0057] By setting up a conformal frame 30 for the fuselage floor, the four floor clamping members 31 of the conformal frame 30 can be used to clamp and position the fuselage floor 3. Since the four floor clamping members 31 clamp the fuselage floor 3 from the four edges of the fuselage floor 3 respectively, the force on the fuselage floor 3 can be more even, avoiding deformation of the fuselage floor 3 and affecting the assembly quality.

[0058] The bottom ball joint 33 and the bottom ball joint positioning device 41 enable the detachable connection between the fuselage floor conformal frame 30 and the floor attitude adjustment device 40.

[0059] By setting up the floor attitude adjustment device 40, the bottom ball head positioning device 41 can be driven in three degrees of freedom in the first direction, the second direction and the vertical direction. Thus, the position and attitude of the fuselage floor conformal frame 30 and the fuselage floor 3 in at least six degrees of freedom can be adjusted through the cooperation of the four floor attitude adjustment devices 40.

[0060] By setting two side positioning fixtures 50, the frame positioning device and the skin positioning device of the side positioning fixtures 50 can be used to lock and position the fuselage frame 4 and the fuselage skin 5 respectively. By enabling the side positioning fixtures 50 to move horizontally along the second direction, the side positioning fixtures 50 can be moved outward to avoid obstacles when the fuselage top plate conformal frame 10 is hoisted and when the automatic guide vehicle 60 transports the fuselage floor conformal frame 30.

[0061] By setting up an automated guided vehicle 60, the fuselage floor conformal frame 30 and the fuselage floor 3 can be transported. The guide vehicle connecting ball joint 34 and the vehicle-mounted ball joint positioning device can realize the detachable connection between the fuselage floor conformal frame 30 and the automated guided vehicle 60.

[0062] By setting up a measuring device 70 and a control system, the measuring device 70 can measure the position and orientation of the fuselage top plate 2, fuselage floor 3, fuselage frame 4, and fuselage skin 5. This allows the floor orientation adjustment device 40 to adjust the position and orientation of the fuselage floor conformal frame 30 and the fuselage floor 3 according to the detection results, thereby improving the precision and accuracy of assembly and realizing the digital assembly of the helicopter mid-fuselage.

[0063] Since the top ball joint 13 and the top ball joint positioning device 21, the bottom ball joint 33 and the bottom ball joint positioning device 41, the guide vehicle connecting ball joint 34 and the vehicle-mounted ball joint positioning device all achieve ball joint connection through the ball joint structure, stress on the fuselage components can be avoided, which would cause deformation of the fuselage components, thereby further improving the assembly quality.

[0064] The helicopter mid-fuselage digital assembly system 1 allows the fuselage top plate 2, fuselage floor 3, fuselage frame 4, and fuselage skin 5 to be assembled in the same workstation, reducing the frequent transportation of parts and avoiding the problem of parts deformation due to transportation, thereby further improving the assembly quality. Moreover, it is more time-saving and labor-saving than manual assembly, and can effectively improve assembly efficiency.

[0065] The helicopter mid-fuselage digital assembly system 1 according to an embodiment of the present invention, compared with the manual assembly method in the related art, can reliably position fuselage components, avoid deformation of fuselage components, thereby improving assembly quality, and can accurately control the position and orientation of components, improving assembly precision and accuracy. It can also reduce the transportation process, avoid deformation caused by transportation, and further improve assembly quality and efficiency.

[0066] Therefore, the helicopter mid-fuselage digital assembly system 1 according to the present invention has the advantages of high assembly accuracy, good assembly quality and high assembly efficiency.

[0067] The following description, with reference to the accompanying drawings, describes a helicopter mid-fuselage digital assembly system 1 according to a specific embodiment of the present invention.

[0068] In some specific embodiments of the present invention, such as Figures 1-7 As shown, the helicopter mid-fuselage digital assembly system 1 according to an embodiment of the present invention includes a base, a fuselage top plate conformal frame 10, a fuselage top plate positioning bracket 20, a fuselage floor conformal frame 30, four floor attitude adjustment devices 40, two side positioning fixtures 50, an automatic guide vehicle 60, a measuring device 70, and a control system.

[0069] Specifically, such as Figure 2 As shown, the fuselage top plate positioning bracket 20 includes four columns 22 and a top frame 23. The columns 22 are mounted on the base, and the top frame 23 is connected to the upper ends of the four columns 22 respectively. The top ball-head positioning device 21 is located on the upper surface of the top frame 23. This design facilitates a more open installation space, reduces the obstruction and interference of the fuselage top plate positioning bracket 20 on the fuselage components, and facilitates subsequent processes such as drilling.

[0070] Advantageously, such as Figure 2 As shown, the inner sides of the four pillars 22 define the installation space, and all four floor attitude adjustment devices 40 are located within this installation space. Specifically, the fuselage floor conformal frame 30, after being connected to the floor attitude adjustment device 40, is also located within the installation space. The fuselage top conformal frame 10 and the fuselage floor conformal frame 30 are spaced vertically apart to accommodate the mid-fuselage of the helicopter. This facilitates the arrangement of the floor attitude adjustment device 40, prevents the pillars 22 from interfering with the movement of the floor attitude adjustment device 40, and facilitates the connection between the floor attitude adjustment device 40 and the fuselage floor conformal frame 30.

[0071] More specifically, such as Figure 4 As shown, the floor attitude adjustment device 40 includes a base 42, a first-direction moving platform 43, a second-direction moving platform 44, and a vertical moving platform 45. The base 42 is mounted on the base. The first-direction moving platform 43 is slidably mounted on the base 42 along a first direction. The second-direction moving platform 44 is slidably mounted on the first-direction moving platform 43 along a second direction. The vertical moving platform 45 is vertically movable on the second-direction moving platform 44, and a bottom ball-head positioning device 41 is located at the upper end of the vertical moving platform 45. The first driving device is driveably connected to the first-direction moving platform 43. The second driving device is driveably connected to the second-direction moving platform 44. The vertical driving device is drively connected to the vertical moving platform 45. Specifically, the floor attitude adjustment device 40 can be a three-degree-of-freedom POGO column. This facilitates the driving of the floor attitude adjustment device 40 in three degrees of freedom, thereby facilitating the adjustment of the position and attitude of the fuselage floor conformal frame 30 and the fuselage floor 3 by four floor attitude adjustment devices 40 in at least six degrees of freedom.

[0072] More advantageously, such as Figure 6As shown, the side positioning fixture 50 includes two spaced-apart side columns 51, four horizontal connecting rods 52, and a mounting frame 53. The side columns 51 are movably mounted on the base along the second direction. Each side column 51 has two vertically spaced horizontal connecting rods 52. One end of each horizontal connecting rod 52 is connected to the side column 51, and the other end is connected to the mounting frame 53. The frame positioning device and the skin positioning device are mounted on the mounting frame 53. Specifically, the side columns 51 can be movably mounted on the base via ground rails. This provides operating space for the assembly of the fuselage frame 4 and the fuselage skin 5, thereby facilitating the assembly operation of the fuselage frame 4 and the fuselage skin 5.

[0073] Furthermore, the helicopter mid-fuselage digital assembly system 1 also includes two lifting work ladders 80, each suitable for carrying an operator 6. The two lifting work ladders 80 are located on the outer sides of the two mounting frames 53 in the second direction. Specifically, the lifting work ladders 80 can also move horizontally to coordinate with the movement of the side positioning fixture 50. The lifting work ladders 80 can be hydraulic scissor lifts. This allows the operator 6 to climb onto the lifting work ladders 80 to perform assembly operations on the fuselage frame 4 and the fuselage skin 5.

[0074] Figure 1 A digital assembly system 1 for the mid-fuselage of a helicopter, according to some examples of the present invention, is shown. For example... Figure 1 As shown, there are two measuring devices 70, spaced apart in both the first and second directions. Specifically, the two measuring devices 70 are respectively positioned adjacent to the two ends of a diagonal line in the horizontal direction of the mounting space. The measurements of the measuring devices 70 can be taken with the fuselage top plate 2 as a reference. This allows the two measuring devices 70 to measure the position and orientation of the fuselage components from different directions, improving the accuracy of the measurements.

[0075] Specifically, the measuring device 70 is mounted on the base via a buffer seat and a support to reduce the impact of vibration on the test results.

[0076] Specifically, such as Figure 3 As shown, each top plate clamping component 11 is connected to multiple top plate clamping component driving devices 12. Each top plate clamping component driving device 12 includes a top plate clamping component driving seat, a top plate clamping component driving screw, and a top plate clamping component driving wheel. The top plate clamping component driving seat is mounted on the conformal frame 10 of the machine body top plate. The top plate clamping component driving screw is connected to both the top plate clamping component 11 and the top plate clamping component driving wheel, and is threadedly engaged with the top plate clamping component driving seat. Figure 5As shown, each floor clamp 31 is connected to multiple floor clamp drive devices 32. Each floor clamp drive device 32 includes a floor clamp drive seat, a floor clamp drive screw, and a floor clamp drive wheel. The floor clamp drive seat is mounted on the fuselage floor conformal frame 30. The floor clamp drive screw is connected to both the floor clamp 31 and the floor clamp drive wheel, and is threadedly engaged with the floor clamp drive seat. This allows the rotation of the drive wheel to be converted into axial movement of the screw relative to the drive seat, thereby moving the clamp and achieving clamping and release of the fuselage components.

[0077] More specifically, the top ball joint positioning device 21, the bottom ball joint positioning device 41, and the vehicle-mounted ball joint positioning device are all ball joint positioners, each comprising a lock body, a bolt, and a locking drive device. The upper surface of the lock body is provided with a ball socket suitable for accommodating the ball joint. The bolt is movably disposed on the lock body between a release position, an anti-disengagement position, and a locking position. In the release position, the bolt allows the ball joint to disengage from the ball socket; in the anti-disengagement position, the bolt prevents the ball joint from disengaging from the ball socket and allows the ball joint to rotate relative to the ball socket; in the locking position, the bolt prevents the ball joint from disengaging from the ball socket and prevents the ball joint from rotating relative to the ball socket. A locking drive device is drivenly connected to the bolt. Specifically, the ball joint can be a top ball joint 13, a bottom ball joint 33, and a guide vehicle connecting ball joint 34. This allows the position of the bolt to be adjusted as needed to achieve anti-disengagement, locking, or release of the ball joint.

[0078] Specifically, the helicopter mid-fuselage digital assembly system 1 is symmetrical about left and right in the second direction.

[0079] The following is for reference. Figures 1-7 The working process of the helicopter mid-fuselage digital assembly system 1 according to an embodiment of the present invention is described.

[0080] The side positioning fixture 50 moves outward to avoid the conformal frame 10 of the fuselage top plate and the conformal frame 30 of the fuselage floor.

[0081] The fuselage top plate conformal frame 10, which holds the fuselage top plate 2, is lifted by a crane to the top of the fuselage top plate positioning bracket 20, so that the top ball head 13 fits into the top ball head positioning device 21, and the locking tongue of the top ball head positioning device 21 is driven to lock.

[0082] The automated guided vehicle 60 transports the fuselage floor conformal frame 30, which holds the fuselage floor 3, to the parking position, so that the fuselage floor conformal frame 30 is positioned above the floor adjustment device 40.

[0083] The vehicle-mounted lifting device 61 descends, the floor adjustment device 40 drives the bottom ball joint positioning device 41 to align with the bottom ball joint 33, the floor adjustment device 40 supports the body floor conformal frame 30, the bottom ball joint 33 is fitted into the bottom ball joint positioning device 41 and the locking tongue is driven to lock, the guide vehicle connecting ball joint 34 disengages from the vehicle-mounted ball joint positioning device, and the automatic guide vehicle 60 drives out of the parking position.

[0084] The control system controls the movement of the four floor posture adjustment devices 40 according to the detection results of the measuring device 70, so as to realize the posture adjustment of the six degrees of freedom of the fuselage floor conformal frame 30, and to achieve stable positioning and support of the fuselage floor conformal frame 30.

[0085] Move the side positioning fixture 50 of the locking body frame 4 inward;

[0086] The operator climbs onto the lifting work ladder 80 and installs the machine body frame 4;

[0087] The side positioning fixture 50 moves outward;

[0088] The operator locks the fuselage skin 5 onto the side positioning fixture 50;

[0089] The side positioning fixture 50 moves inward, and the operator is positioned on the lifting work ladder 80 to install the machine body skin 5;

[0090] Two transition beams are installed on the lower surface of the fuselage floor 3. The transition beams can be used for quick connection and positioning with the bracket. The bracket can be used for docking helicopter sections, thereby improving the assembly efficiency of subsequent processes.

[0091] The side positioning fixture 50 moves outward;

[0092] The top ball head positioning device 21 releases the top ball head 13, moves the top plate conformal frame 10 of the fuselage so that the top ball head 13 is disengaged from the top ball head positioning device 21, and rotates the top plate conformal frame 10 of the fuselage by 90 degrees.

[0093] The automated guided vehicle 60 enters the parking space, the on-board lifting device 61 rises to support the body floor conformal frame 30, the guide vehicle connecting ball joint 34 engages with the on-board ball joint positioning device, the bottom ball joint 33 disengages from the bottom ball joint positioning device 41, and the automated guided vehicle 60 drives out of the parking space.

[0094] The automated guided vehicle 60 transports the assembled components to the automated drilling and riveting station for drilling and riveting of connection holes, completing the assembly of the front section of the helicopter fuselage.

[0095] The control method of the helicopter mid-fuselage digital assembly system 1 according to the above embodiment of the present invention is described below, including the following steps:

[0096] The two side positioning fixtures move outward to hoist the conformal frame of the fuselage top plate, which holds the fuselage top plate, to the fuselage top plate positioning bracket, and fit the top ball head into the top ball head positioning device;

[0097] The automated guided vehicle transports the conformal frame of the fuselage floor, which holds the fuselage floor, to the parking space. The vehicle-mounted lifting device lowers, and the floor adjustment device drives the bottom ball joint positioning device to align with the bottom ball joint. The bottom ball joint fits into the bottom ball joint positioning device. The guide vehicle connects the ball joint to disengage from the vehicle-mounted ball joint positioning device, and the automated guided vehicle drives out of the parking space.

[0098] The four floor adjustment devices adjust the position and orientation of the fuselage floor according to the detection results of the measuring device;

[0099] The operator uses the frame positioning device to lock the frame of the machine body, the side positioning fixture moves inward, and the operator completes the connection and installation of the frame of the machine body.

[0100] The side positioning fixture moves outward, and the operator uses the skin positioning device to lock the fuselage skin. The side positioning fixture moves inward, and the operator completes the connection and installation of the fuselage skin.

[0101] The side positioning fixture moves outward, the top plate conformal frame releases the top plate, and the top plate conformal frame moves to disengage the top ball head from the top ball head positioning device.

[0102] The automated guided vehicle enters the parking space, the on-board lifting device rises to support the body floor conformal frame, the guide vehicle connecting ball joint engages with the on-board ball joint positioning device, the bottom ball joint disengages from the bottom ball joint positioning device, and the automated guided vehicle drives out of the parking space.

[0103] The control method of the helicopter mid-fuselage digital assembly system 1 according to the embodiments of the present invention has the advantages of high assembly accuracy, good assembly quality and high assembly efficiency by utilizing the helicopter mid-fuselage digital assembly system 1 according to the above embodiments of the present invention.

[0104] Other components and operations of the helicopter mid-fuselage digital assembly system 1 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0106] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A digital assembly system for the mid-fuselage of a helicopter, characterized in that, include: Base; A conformal frame for the fuselage top plate, wherein a fuselage top plate clamping device is provided on the conformal frame for the fuselage top plate, the fuselage top plate clamping device includes four top plate clamping members located on the outer sides of the four edges of the fuselage top plate of the helicopter, the four top plate clamping members being adapted to clamp or release the fuselage top plate, and the lower surface of the conformal frame for the fuselage top plate having four spaced-apart top ball heads; A fuselage top plate positioning bracket, wherein the upper surface of the fuselage top plate positioning bracket is provided with four top ball head positioning devices, and the four top ball heads are respectively adapted to be detachably engaged in the four top ball head positioning devices; A conformal frame for the fuselage floor, wherein a fuselage floor clamping device is provided on the conformal frame for the fuselage floor, the fuselage floor clamping device includes four floor clamping members located on the outer sides of the four edges of the fuselage floor of the helicopter, the four floor clamping members being adapted to clamp or release the fuselage floor, and the lower surface of the conformal frame for the fuselage floor is provided with a guide car connecting ball joint and four bottom ball joints; Four floor adjustment devices, each of which has a bottom ball head positioning device at its upper end and is adapted to drive the bottom ball head positioning device in a first direction, a second direction and a vertical direction. The first direction and the second direction are both horizontal and perpendicular to each other. The four bottom ball heads are adapted to be detachably engaged in the four bottom ball head positioning devices. The four floor adjustment devices are spaced apart and define a parking space on their inner sides. Two side positioning fixtures are provided on the base and are horizontally movable along the second direction and are respectively located on both sides of the fuselage top plate positioning bracket in the second direction. The side positioning fixtures are provided with a frame positioning device and a skin positioning device. The frame positioning device is adapted to lock or release the fuselage frame of the helicopter, and the skin positioning device is adapted to lock or release the fuselage skin of the helicopter. An automated guided vehicle (AGV) is horizontally movable on the base and is suitable for entering and exiting the parking space. The AGV is equipped with a vehicle-mounted lifting device, which is equipped with a vehicle-mounted ball joint positioning device. The ball joint connecting the AGV is adapted to be detachably fitted into the vehicle-mounted ball joint positioning device. A measuring device, which is mounted on the base and is used to measure the position and orientation of the fuselage top plate, the fuselage floor, the fuselage frame, and the fuselage skin; The control system is electrically connected to the measuring device and the four floor posture adjustment devices.

2. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, The fuselage top plate positioning bracket includes four columns and a top frame. The columns are mounted on the base, and the top frame is connected to the upper ends of the four columns respectively. The top ball-head positioning device is located on the upper surface of the top frame.

3. The helicopter mid-fuselage digital assembly system according to claim 2, characterized in that, The inner sides of the four columns define an installation space, and the four floor adjustment devices are all located within the installation space.

4. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, Each of the floor posture adjustment devices includes: A base, wherein the base is disposed on the pedestal; A first directional moving platform is slidably mounted on the base along a first direction; A second directional moving platform is slidably mounted on the first directional moving platform along a second direction; A vertical moving platform is provided on the second direction moving platform, and the bottom ball-head positioning device is provided at the upper end of the vertical moving platform; A first driving device is connected to the first directional moving platform via a transmission connection. The second drive unit is connected to the second directional moving platform via a transmission connection. A vertical drive device is connected to the vertical moving platform via a transmission connection.

5. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, The side positioning fixture includes two spaced-apart side columns, four horizontal connecting rods, and a mounting frame. The side columns are movably mounted on the base along the second direction. Each side column is provided with two vertically spaced horizontal connecting rods. One end of each horizontal connecting rod is connected to the side column and the other end is connected to the mounting frame. The frame positioning device and the skin positioning device are mounted on the mounting frame.

6. The helicopter mid-fuselage digital assembly system according to claim 5, characterized in that, It also includes two lifting work ladders adapted to carry operators, and the two lifting work ladders are respectively located outside the two mounting frames in the second direction.

7. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, The measuring device consists of two devices, which are spaced apart in both the first and second directions.

8. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, Each of the top plate clamping components is connected to multiple top plate clamping component driving devices. Each top plate clamping component driving device includes a top plate clamping component driving seat, a top plate clamping component driving screw, and a top plate clamping component driving wheel. The top plate clamping component driving seat is mounted on the conformal frame of the machine body's top plate. The top plate clamping component driving screw is connected to both the top plate clamping component and the top plate clamping component driving wheel, and is threadedly engaged with the top plate clamping component driving seat. Each of the floor clamping components is connected to multiple floor clamping component driving devices. Each floor clamping component driving device includes a floor clamping component driving seat, a floor clamping component driving screw, and a floor clamping component driving wheel. The floor clamping component driving seat is mounted on the conformal frame of the machine body's floor. The floor clamping component driving screw is connected to both the floor clamping component and the floor clamping component driving wheel, and is threadedly engaged with the floor clamping component driving seat.

9. The helicopter mid-fuselage digital assembly system according to claim 1, characterized in that, The top ball joint positioning device, the bottom ball joint positioning device, and the vehicle-mounted ball joint positioning device are all ball joint positioners, and the ball joint positioner includes: The lock body has a ball socket on its upper surface suitable for accommodating a ball head; A locking tongue is movably disposed on the lock body between a release position, an anti-disengagement position, and a locking position. When the locking tongue is in the release position, it allows the ball head to disengage from the ball socket. When the locking tongue is in the anti-disengagement position, it prevents the ball head from disengaging from the ball socket and allows the ball head to rotate relative to the ball socket. When the locking tongue is in the locking position, it prevents the ball head from disengaging from the ball socket and prevents the ball head from rotating relative to the ball socket. A locking drive device is connected to the locking tongue via a transmission connection.

10. A control method for a digital assembly system of a helicopter mid-fuselage according to any one of claims 1-9, characterized in that, Includes the following steps: The two side positioning fixtures move outward to hoist the conformal frame of the fuselage top plate, which holds the fuselage top plate, to the fuselage top plate positioning bracket, and fit the top ball head into the top ball head positioning device; The automated guided vehicle transports the conformal frame of the fuselage floor, which holds the fuselage floor, to the parking space. The vehicle-mounted lifting device lowers, and the floor adjustment device drives the bottom ball joint positioning device to align with the bottom ball joint. The bottom ball joint fits into the bottom ball joint positioning device. The guide vehicle connects the ball joint to disengage from the vehicle-mounted ball joint positioning device, and the automated guided vehicle drives out of the parking space. The four floor adjustment devices adjust the position and orientation of the fuselage floor according to the detection results of the measuring device; The operator uses the frame positioning device to lock the frame of the machine body, the side positioning fixture moves inward, and the operator completes the connection and installation of the frame of the machine body. The side positioning fixture moves outward, and the operator uses the skin positioning device to lock the fuselage skin. The side positioning fixture moves inward, and the operator completes the connection and installation of the fuselage skin. The side positioning fixture moves outward, the top plate conformal frame releases the top plate, and the top plate conformal frame moves to disengage the top ball head from the top ball head positioning device. The automated guided vehicle enters the parking space, the on-board lifting device rises to support the body floor conformal frame, the guide vehicle connecting ball joint engages with the on-board ball joint positioning device, the bottom ball joint disengages from the bottom ball joint positioning device, and the automated guided vehicle drives out of the parking space.

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