An aircraft vertical tail assembly assembly mobile tooling

Abstract

The application provides an airplane vertical tail assembly self-walking tool, and belongs to the technical field of civil airplane assembly, which comprises a main frame, a self-walking mechanism, a vertical tail positioner, a telescopic shaft and a rotary centering mechanism. The upper part of the main frame is provided with a plurality of vertical tail positioners, and the bottom ends are provided with self-walking mechanisms. The vertical tail is transported between various processing stations through a ground rail. The rotary centering mechanism is installed at the middle of the bottom of the main frame and cooperates with the telescopic shaft arranged on the ground to realize tool overturning. The self-walking mechanism is provided with a longitudinal driving system, a transverse driving system, a lifting driving system, a positioner and a sensor. The longitudinal driving system, the transverse driving system and the lifting driving system are used for tool transverse and longitudinal movement and direction switching. The positioner and the sensor cooperate to realize station and direction switching position identification, longitudinal / transverse driving system lifting position identification and control. The application eliminates tedious operations such as frequent loading and unloading and frequent positioning, improves operation speed and reduces labor intensity.

Description

Technical Field

[0001] The invention belongs to the technical field of civil aircraft assembly, and relates to a self-propelled tool for assembling an aircraft vertical tail. Background Art

[0002] The vertical tail is a typical part of an aircraft, such as Figure 1 The vertical tail's main structure is comprised of a skeleton D, beam A, leading edge C, and panel B. Each component must be positioned and assembled sequentially using an assembly fixture. Finally, each component must be mounted on a final assembly jig and a large number of fastener holes drilled using a jig, resulting in numerous steps. The existing assembly method requires sequential assembly of each level of components on each assembly jig. After assembly, the corresponding component must be removed from the assembly jig for that step and moved to the final final assembly jig using a crane or ground equipment. The component must then be positioned again on the final assembly jig, and a large number of fastener holes must be drilled using a template, with the panel margins manually milled. This method is cumbersome, slow, labor-intensive, and inefficient. Summary of the Invention

[0003] In response to the above-mentioned technical problems, the present invention provides a self-propelled tooling for assembling an aircraft vertical tail, which can move, rotate and position itself along a ground guide rail to transport the vertical tail to different stations for assembly and move it to the front of a machine tool to complete hole making, milling and other tasks.

[0004] A self-propelled tool for assembling the vertical tail of an aircraft, such as Figure 2 As shown, the self-propelled tooling includes a main frame 1, a self-propelled mechanism 2, a vertical tail positioner 3, a retractable shaft 4, and a rotation centering mechanism 5.

[0005] The main frame 1 is generally in the shape of a U with an opening facing upward, and several different types of vertical tail positioners 3 are installed in the U-shaped opening, wherein the installation position and model of the vertical tail positioner 3 are determined according to needs, and a set of self-propelled mechanisms 2 are installed at both ends of the bottom of the main frame 1, and a rotating centering mechanism 5 is installed in the middle of the bottom of the main frame 1, which is used for the flipping of the entire self-propelled tooling, and a hole is provided at the bottom end; the retractable shaft 4 is installed on the ground at the flipping position of the self-propelled tooling, and it is inserted into the hole of the rotating centering mechanism 5, and the two are used in conjunction with each other; in addition, the walking route of the self-propelled tooling is designed according to the vertical tail assembly station, and a ground track is laid on the ground to cooperate with the movement of the self-propelled tooling.

[0006] like Figures 3 to 5As shown, the self-propelled mechanism 2 includes a walking mechanism main frame 201, a longitudinal drive system 202, a longitudinal moving wheel 203, a lifting drive system 204, a cone positioner 205, a plane reference support 206, a cup-cone positioner 207, a cup-cone long circle direction positioner 208, a reference plane support 209, a sensor antenna 210, a height sensor 211, a lateral drive system 212, a lateral moving wheel 213 and a limit switch 214.

[0007] like Figure 4 As shown, the main frame 201 of the walking mechanism is provided with a longitudinal drive system 202, a transverse drive system 212 and a lifting drive system 204, which are respectively used to drive the self-propelled tooling to move longitudinally, transversely and vertically along the ground.

[0008] like Figure 6 As shown, the longitudinal drive system 202 includes a longitudinal drive system motor 2021, a transmission belt 1 2022, a main transmission shaft 2023, a longitudinal drive system frame 2024, a transmission belt 2025, and a secondary transmission shaft 2026. The longitudinal drive system motor 2021 is fixed on the longitudinal drive system frame 2024, and its transmission end is connected to the transmission belt 1 2022, the other end of the transmission belt 1 2022 is connected to the main transmission shaft 2023, and one end of the transmission belt 2 2025 is connected to the transmission end of the main transmission shaft 2023, and the other end is connected to the secondary transmission shaft 2026. The longitudinal moving wheel 203 is installed on the two transmission shafts, and the main transmission shaft 2023, the secondary transmission shaft 2026 and the longitudinal moving wheel 203 are all arranged on the longitudinal drive system frame 2024; the longitudinal drive system 202 is fixedly installed on the walking mechanism main frame 201, and the longitudinal moving wheel 203 is located at the lower end of the walking mechanism main frame 201, which is used to drive the longitudinal moving wheel 203 to realize longitudinal movement along the ground track; the longitudinal drive system 202 is installed in both self-propelled mechanisms 2, and the two move synchronously.

[0009] like Figure 7 As shown, the lifting drive system 204 includes a lifting system motor 2041, a coupling A 2042, a drive shaft 2043, a screw jack 2044, and a gearbox 2045. After couplings A 2042 are installed at both ends of the drive shaft 2043, one end is mounted on the transmission end of the lifting system motor 2041, and the other end is connected to the gearbox 2045. Couplings A 2042 are installed on both sides of the output end of the gearbox 2045 and are then connected to screw jacks 2044. The screw jacks 2044 include a mounting frame and a lifting shaft. The lifting drive system 204 is fixedly mounted on the walking mechanism main frame 201, wherein the mounting frame of the screw jack 2044 is fixedly connected to the walking mechanism main frame 201, and the lifting shaft passes through the walking mechanism main frame 201 and can move up and down within the walking mechanism main frame 201.

[0010] like Figure 8 As shown, the transverse drive system 212 includes a transverse drive motor 2121, a reducer 2122, a coupling B 2123, a transmission 2124, a universal joint 2125, and a transmission shaft (2126). The transmission end of the transverse drive motor 2121 is connected to the reducer 2122, the other end of the reducer 2122 is connected to the coupling B 2123, the other end of the coupling B 2123 is connected to the transmission 2124, the output ends of the transmission 2124 are respectively connected to the universal coupling 2125, the ends of the two universal couplings 2125 are respectively connected to the transmission shaft (2126), and the two transmission shafts (2126) are respectively installed with transverse moving wheels 213; the transverse drive system 212 is fixedly connected to the lower end of the lifting shaft of the screw jack 2044 in the lifting drive system 204, so that it can perform lifting movement relative to the walking mechanism main frame 201, wherein the transverse moving wheel 213 is located at the lower end of the transverse drive system 212, and the transverse drive system 212 drives the transverse moving wheel 213 to achieve transverse movement along the ground track; in addition, the transverse drive system 212 is installed only in one side of the self-propelled mechanism 2, and the self-propelled mechanism 2 on the other side only has two sets of transverse moving wheels 213 installed at the corresponding positions at its bottom as driven wheels.

[0011] The cup-cone locator 207, the cup-cone elongated direction locator 208 and two sets of reference plane supports 209 are installed on the bottom surface of the walking mechanism main frame 201, wherein the cup-cone locator 207 and the reference plane support 209 are respectively installed at both ends of the bottom surface of one of the walking mechanism main frames 201, and the cup-cone elongated direction locator 208 and the reference plane support 209 are respectively installed at both ends of the bottom surface of the other walking mechanism main frame 201, and the two reference plane supports 209 are diagonally arranged, the cup-cone locator 207 and the cup-cone elongated direction locator 208 are diagonally arranged, and the elongated direction of the cup-cone elongated direction locator 208 is aligned with the direction of the line connecting it and the cup-cone locator 207, so as to compensate for the manufacturing error between the two points; at the same time, the bottom end surfaces of the cup-cone locator 207, the cup-cone elongated direction locator 208 and the reference plane support 209 are higher than the lower end of the longitudinal moving wheel 203, so that the transverse moving wheel 213 can touch the ground.

[0012] The cone locator 205 and the plane reference support 206 are positioned and installed on the ground within the station. Two cone locators 205 and two plane reference supports 206 are installed at each station. Their installation positions correspond to the cup-cone locators 207, the cup-cone elongated direction locators 208 and the reference plane supports 209 on the two self-propelled mechanisms 2. Among them, the two groups of cone locators 205 correspond to the cup-cone locators 207 and the cup-cone elongated direction locators 208 and are used in combination, and the two groups of plane reference supports 206 correspond to the two groups of reference plane supports 209 and are used in combination for positioning and fixing the self-propelled tooling within the station.

[0013] The sensor antenna 210 is installed on the main frame 201 of the walking mechanism, and a sensor target is installed at a corresponding position on the ground of the station. The two cooperate with each other. When the self-propelled tooling moves to the horizontal position corresponding to the sensor target, the sensor is triggered and a signal is fed back to the computer.

[0014] The height sensor 211 is installed on the walking mechanism main frame 201 and is used to sense the lifting height of the transverse drive system 212. When it moves to the corresponding vertical position, the sensor is triggered and a signal is fed back to the computer.

[0015] The limit switch 214 is installed on the walking mechanism main frame 201. When the longitudinal moving wheel 203 contacts the ground and the transverse driving system 212 rises to the corresponding vertical position, the limit switch 214 is triggered to cut off the lifting system motor 2041.

[0016] Furthermore, in some embodiments, the self-propelled mechanisms 2 on both sides are installed with a transverse drive system 212, and the two sets of transverse drive systems 212 move synchronously.

[0017] Furthermore, in order to ensure stable movement, longitudinal moving wheels 203 are respectively installed at the bottom of the two sets of longitudinal driving systems 202 as driven wheels, and are respectively arranged colinearly with the active longitudinal moving wheels 203.

[0018] The installation sequence of the self-propelled tooling is:

[0019] 1. Such as Figure 6 Assemble the longitudinal drive system 202 as shown, fix the longitudinal drive system motor 2021 to the longitudinal drive system frame 2024, connect the transmission belt 1 2022 to the transmission end of the longitudinal drive system motor 2021, connect the main transmission shaft 2023 to the other end of the transmission belt, connect the transmission end of the main transmission shaft 2023 to the transmission belt 2025, and install the auxiliary transmission shaft 2026 to the other end of the transmission belt 2025. Finally, install the longitudinal moving wheel 203 to the two transmission shafts;

[0020] 2. Such as Figure 7 As shown, the lifting drive system 204 is assembled. A coupling A2042 is installed on the transmission end of the lifting system motor 2041. One end of the drive shaft 2043 is then installed on the coupling A2042. The other end of the drive shaft 2043 is then installed on the coupling A2042 and connected to the gearbox 2045. The output ends of the gearbox 2045 are then installed with couplings A2042 and connected to the screw jack 2044.

[0021] 3. Such as Figure 2-7As shown, the lateral drive system 212 is assembled, the transmission end of the lateral drive motor 2121 is connected to the reducer 2122, the other end of the reducer 2122 is connected to the coupling B 2123, the other end of the coupling B 2123 is connected to the transmission 2124, the output ends of both sides of the transmission 2124 are connected to the universal coupling 2125, the end of the universal coupling 2125 is connected to the transmission shaft (2126), and finally the lateral moving wheel 213 is installed on the transmission shaft (2126);

[0022] 4. Install the two longitudinal drive systems 202 and the two lifting drive systems 204 onto their respective walking mechanism main frames 201, and install the transverse drive system 212 onto the bottom of the lifting shaft of the screw jack 2044 in the lifting drive system 204;

[0023] 5. Install the two sets of driven longitudinal moving wheels 203 to the two sets of longitudinal drive systems 202 respectively, and install the two sets of driven transverse moving wheels 213 to the walking mechanism main frame 201 without the transverse drive system 212 installed;

[0024] 6. Install the cup-cone locator 207, the cup-cone oblong direction locator 208, and two sets of reference surface supports 209 onto the two sets of walking mechanism main frames 201, and make sure the oblong direction of the cup-cone oblong direction locator 208 is aligned with the line connecting the cup-cone locator 207 and the cup-cone oblong direction locator 208 to compensate for the manufacturing error between the two points;

[0025] 7. Install the two sets of self-propelled mechanisms 2 to the two ends of the bottom of the main frame 1, install the rotating centering mechanism 5 to the middle position of the bottom of the main frame 1, and install the retractable shaft 4 at the corresponding position on the ground at the corresponding station. Install the vertical tail positioner 3 on the top of the main frame 1;

[0026] 8. Install the cone locator 205, cup-cone locator 207, and cup-cone long circle direction locator 208 on the ground at each station. After installation, the cone locator 205 and the cup-cone locator 207 or the cup-cone long circle direction locator 208 should fit completely together.

[0027] 9. Install the plane reference support 206 and the reference surface support 209 on the ground of each station. After installation, the plane reference support 206 and the reference surface support 209 should be completely in contact with each other.

[0028] 10. After completing the above steps, install the sensor antenna 210 on the walking mechanism main frame 201 and install the sensor target at the corresponding ground position. Every time it moves to this horizontal position, the sensor will be triggered and a feedback signal will be sent to the computer;

[0029] 11. In this positioning state, a height sensor 211 is installed on the walking mechanism main frame 201. Each time the lateral drive system 212 moves to a corresponding vertical position, the sensor is triggered and a feedback signal is sent to the computer;

[0030] 12. Operate the lifting drive system 204 to make the longitudinal moving wheel 203 touch the ground. Install the limit switch 214 at this height so that it is just in the trigger position. When the longitudinal moving wheel 203 touches the ground and the transverse drive system 212 rises to the corresponding vertical position, the limit switch 214 is triggered to cut off the lifting system motor 2041.

[0031] Beneficial effects of the present invention:

[0032] 1. The present invention allows tooling to be moved and positioned at different positions. In actual use, the walking route can be designed according to different actual conditions so that the self-propelled mechanism can move to the required position for assembly through the ground track and its own sensing mechanism and positioning mechanism, eliminating the many complex and tedious operations caused by the frequent loading and unloading and frequent positioning caused by the vertical tail conversion position.

[0033] 2. When assembling a vertical tail using this invention, the entire tooling can be moved to a machine tool for CNC drilling or CNC milling of wall panel allowances. This eliminates the need for workers to drill templates, mill plate cuts, and other operations, speeding up operations and significantly improving aircraft production efficiency while reducing worker labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the vertical tail structure. In the figure, A is the beam, B is the wall panel, C is the leading edge, and D is the frame.

[0035] Figure 2 This is a schematic diagram of the vertical tail assembly tooling structure;

[0036] Figure 3 Schematic diagram of the self-propelled mechanism, where (a) and (b) are schematic diagrams of the self-propelled mechanism on both sides respectively;

[0037] Figure 4 It is the auxiliary view of the self-propelled mechanism;

[0038] Figure 5 This is a schematic diagram of the ground end of the cup-cone locator;

[0039] Figure 6 Schematic diagram of the longitudinal drive system;

[0040] Figure 7 This is a schematic diagram of the lifting system;

[0041] Figure 8 is a schematic diagram of the lateral drive system;

[0042] Figure 9 It is a structural diagram of the centering rotation mechanism;

[0043] Figure 10 Schematic diagram of transition between four stations in the embodiment;

[0044] Figure 11 Schematic diagram of step 1 of the working process of the self-propelled mechanism in the embodiment, wherein (a) is a schematic diagram of the movement direction of the main frame of the traveling mechanism, and (b) is a schematic diagram of the positioner separation;

[0045] Figure 12 Schematic diagram of step 2 of the working process of the self-propelled mechanism in the embodiment, wherein (a) is a schematic diagram of stopping movement upon reaching the station, and (b) is a schematic diagram of the positioner fitting;

[0046] Figure 13 Schematic diagram of step 3 of the working process of the self-propelled mechanism in the embodiment, wherein (a) is a schematic diagram of driving the lateral drive motor, and (b) is a schematic diagram of the operation of the lateral moving wheel;

[0047] Figure 14 Schematic diagram of step 4 of the self-propelled mechanism working process in the embodiment, wherein (a) is a schematic diagram of the movement direction of the main frame of the traveling mechanism, and (b) is a schematic diagram of the longitudinal moving wheel touching the ground;

[0048] In the figure: 1 main frame; 2 self-propelled mechanism; 3 vertical tail positioner; 4 retractable shaft; 5 rotation centering mechanism; 201 main frame of the traveling mechanism; 202 longitudinal drive system; 203 longitudinal moving wheel; 204 lifting drive system; 205 cone positioner; 206 plane reference support; 207 cup-cone positioner; 208 cup-cone long circle direction positioner; 209 reference plane support; 210 sensor antenna; 211 height sensor; 212 lateral drive system; 213 lateral moving wheel; limit switch 214; 2021 Longitudinal drive system motor; 2022 Drive belt 1; 2023 Main drive shaft; 2024 Longitudinal drive system frame; 2025 Drive belt 2; 2026 Auxiliary drive shaft; 2041 Lifting system motor; 2042 Coupling A; 2043 Drive shaft; 2044 Screw jack; 2045 Gearbox; 2121 Transverse drive motor; 2122 Reducer; 2123 Coupling B; 2124 Transmission; 2125 Universal joint; 2126 Drive shaft. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below, but is not intended to limit the present invention in any way.

[0050] Taking the assembly process of the vertical tail of a certain type of aircraft as an example, the use of the device structure is explained, and the assisted assembly process is described in detail.

[0051] Example 1

[0052] A self-propelled tool for assembling the vertical tail of an aircraft, such as Figure 2As shown, the self-propelled tooling includes a main frame 1, a self-propelled mechanism 2, a vertical tail positioner 3, a retractable shaft 4, and a rotation centering mechanism 5.

[0053] The main frame 1 is in a U-shape with an opening upward as a whole, and several different types of vertical tail positioners 3 are installed in the U-shaped opening. A set of self-propelled mechanisms 2 are installed at both ends of the bottom of the main frame 1, and a rotating centering mechanism 5 is installed in the middle of the bottom of the main frame 1 for flipping the entire self-propelled tooling. A hole is set at the bottom end of the mechanism; the retractable shaft 4 is installed on the ground at the flipping position of the self-propelled tooling, and is inserted into the hole of the rotating centering mechanism 5, and the two are used in conjunction with each other; in addition, the walking route of the self-propelled tooling is designed according to the vertical tail assembly station, and a ground track is laid on the ground to cooperate with the movement of the self-propelled tooling, such as Figure 10 shown.

[0054] like Figures 3 to 5 As shown, the self-propelled mechanism 2 includes a walking mechanism main frame 201, a longitudinal drive system 202, a longitudinal moving wheel 203, a lifting drive system 204, a cone positioner 205, a plane reference support 206, a cup-cone positioner 207, a cup-cone long circle direction positioner 208, a reference plane support 209, a sensor antenna 210, a height sensor 211, a lateral drive system 212, a lateral moving wheel 213 and a limit switch 214.

[0055] like Figure 4 As shown, the main frame 201 of the walking mechanism is provided with a longitudinal drive system 202, a transverse drive system 212 and a lifting drive system 204, which are respectively used to drive the self-propelled tooling to move longitudinally, transversely and vertically along the ground.

[0056] like Figure 6As shown, the longitudinal drive system 202 includes a longitudinal drive system motor 2021, a transmission belt 1 2022, a main transmission shaft 2023, a longitudinal drive system frame 2024, a transmission belt 2025, and an auxiliary transmission shaft 2026. The longitudinal drive system motor 2021 is fixed to the longitudinal drive system frame 2024, with its transmission end connected to the transmission belt 1 2022, the other end of the transmission belt 1 2022 connected to the main transmission shaft 2023, and one end of the transmission belt 2025 connected to the transmission end of the main transmission shaft 2023, and the other end connected to the auxiliary transmission shaft 2026. The longitudinal moving wheel 203 is installed on the two transmission shafts, and the main transmission shaft 2023, the auxiliary transmission shaft 2026 and the longitudinal moving wheel 203 are all set on the longitudinal drive system frame 202. 4; the longitudinal drive system 202 is fixedly mounted on the walking mechanism main frame 201, and the longitudinal moving wheel 203 is located at the lower end of the walking mechanism main frame 201, and is used to drive the longitudinal moving wheel 203 to achieve longitudinal movement along the ground track; the two self-propelled mechanisms 2 are both equipped with a longitudinal drive system 202, and the two move synchronously; for stable movement, the bottom of the two sets of longitudinal drive systems 202 are further equipped with a set of longitudinal moving wheels 203 as driven wheels, and are respectively arranged in line with the active longitudinal moving wheels 203.

[0057] like Figure 7 As shown, the lifting drive system 204 includes a lifting system motor 2041, a coupling A 2042, a drive shaft 2043, a screw jack 2044, and a gearbox 2045. After couplings A 2042 are installed at both ends of the drive shaft 2043, one end is mounted on the transmission end of the lifting system motor 2041, and the other end is connected to the gearbox 2045. Couplings A 2042 are installed on both sides of the output end of the gearbox 2045 and are then connected to screw jacks 2044. The screw jacks 2044 include a mounting frame and a lifting shaft. The lifting drive system 204 is fixedly mounted on the walking mechanism main frame 201, wherein the mounting frame of the screw jack 2044 is fixedly connected to the walking mechanism main frame 201, and the lifting shaft passes through the walking mechanism main frame 201 and can move up and down within the walking mechanism main frame 201.

[0058] like Figure 8As shown, the transverse drive system 212 includes a transverse drive motor 2121, a reducer 2122, a coupling B 2123, a transmission 2124, a universal joint 2125, and a transmission shaft (2126). The transmission end of the transverse drive motor 2121 is connected to the reducer 2122, and the other end of the reducer 2122 is connected to the coupling B 2123. The coupling B The other end of 2123 is connected to the transmission 2124, and the output ends on both sides of the transmission 2124 are respectively connected to the universal coupling 2125, and the ends of the two universal couplings 2125 are respectively connected to the transmission shaft (2126), and the two transmission shafts (2126) are respectively installed with the transverse moving wheels 213; the transverse drive system 212 is fixedly connected to the lower end of the lifting shaft of the screw jack 2044 in the lifting drive system 204, so that it can perform lifting and lowering movements relative to the main frame 201 of the walking mechanism, wherein the transverse moving wheel 213 is located at the lower end of the transverse drive system 212, and the transverse drive system 212 drives the transverse moving wheel 213 to achieve transverse movement along the ground track; in addition, the transverse drive system 212 is installed only in one side of the self-propelled mechanism 2, and the self-propelled mechanism 2 on the other side only has two sets of transverse moving wheels 213 installed at the corresponding positions at its bottom as driven wheels to achieve synchronous movement.

[0059] The cup-cone locator 207, the cup-cone elongated direction locator 208 and two sets of reference plane supports 209 are installed on the bottom surface of the walking mechanism main frame 201, wherein the cup-cone locator 207 and the reference plane support 209 are respectively installed at both ends of the bottom surface of one of the walking mechanism main frames 201, and the cup-cone elongated direction locator 208 and the reference plane support 209 are respectively installed at both ends of the bottom surface of the other walking mechanism main frame 201, and the two reference plane supports 209 are diagonally arranged, the cup-cone locator 207 and the cup-cone elongated direction locator 208 are diagonally arranged, and the elongated direction of the cup-cone elongated direction locator 208 is aligned with the direction of the line connecting it and the cup-cone locator 207, so as to compensate for the manufacturing error between the two points; at the same time, the bottom end surfaces of the cup-cone locator 207, the cup-cone elongated direction locator 208 and the reference plane support 209 are higher than the lower end of the longitudinal moving wheel 203, so that the transverse moving wheel 213 can touch the ground.

[0060] The cone locator 205 and the plane reference support 206 are positioned and installed on the ground within the station. Two cone locators 205 and two plane reference supports 206 are installed at each station. Their installation positions correspond to the cup-cone locators 207, the cup-cone elongated direction locators 208 and the reference plane supports 209 on the two self-propelled mechanisms 2. Among them, the two groups of cone locators 205 correspond to the cup-cone locators 207 and the cup-cone elongated direction locators 208 and are used in combination, and the two groups of plane reference supports 206 correspond to the two groups of reference plane supports 209 and are used in combination for positioning and fixing the self-propelled tooling within the station.

[0061] The sensor antenna 210 is installed on the main frame 201 of the walking mechanism, and a sensor target is installed at a corresponding position on the ground of the station. The two cooperate with each other. When the self-propelled tooling moves to the horizontal position corresponding to the sensor target, the sensor is triggered and a signal is fed back to the computer.

[0062] The height sensor 211 is installed on the walking mechanism main frame 201 and is used to sense the lifting height of the transverse drive system 212. When it moves to the corresponding vertical position, the sensor is triggered and a signal is fed back to the computer.

[0063] The limit switch 214 is installed on the walking mechanism main frame 201. When the longitudinal moving wheel 203 contacts the ground and the transverse driving system 212 rises to the corresponding vertical position, the limit switch 214 is triggered to cut off the lifting system motor 2041.

[0064] like Figure 10 The vertical tail assembly shown requires four stations. At Station 1, beam A, frame D, and the left and right panel B joints are installed. The tooling then moves to Station 2 to drill holes in the panel B joints. Since both panel B joints require drilling, the tooling moves to Station 3, located between Stations 1 and 2, where it flips over and returns to Station 2 to continue drilling holes. Once drilling is complete, the tooling returns to Station 1 to install the left and right panels B. Once positioned, it returns to Station 2 to mill the skin edge to the desired position. Similarly, the other side needs to be milled. After milling, the tooling returns to Station 1 to apply liquid gaskets as needed. After curing, the tooling moves to Station 2 to drill holes and install fasteners. Similarly, the tooling flips over at Station 3 to drill holes and install the other side. Finally, the tooling moves to Station 4 to assemble the leading edge C and wingtips. Based on the aforementioned station setup and the laying of ground tracks, the device is used to move the vertical tail assembly jig to stations 1 through 4 for assembly. The following describes the self-propelled mechanism and method for vertical tail assembly in more detail, using specific steps.

[0065] After installing the ground tracks required for the movement of the self-propelled tooling between the above-mentioned four stations, the cone locator 205, the plane reference support 206, the cup-cone locator 207, the cup-cone oblong direction locator 208, and the reference plane support 209 are respectively installed on stations 1, 2, and 4, and the sensing target is installed on the ground at the corresponding position according to the position of the sensing antenna 210. At station 3, the longitudinal moving wheel 203 cooperates with the trajectory movement of the circular ground track, and the retractable shaft 04 is installed. When the retractable shaft 04 extends out of the ground, it is just inserted into the hole of the rotating centering mechanism 5, and the ground sensing target is set in this state. Because the moving trajectory of the jig is a combination of horizontal and vertical, it is necessary to install the sensing target on the ground according to the position of the sensing antenna 210 at the horizontal and vertical track change point. The following briefly describes the working process of the self-propelled mechanism 2 in actual use, which includes the following steps:

[0066] Step 1: After completing the work at the current station, Figure 11 As shown, the computer is operated to drive the lifting system motor 2041, so that the lifting shaft of the screw jack 2044 moves downward, driving the lateral drive system 212 to move downward as a whole. When the lateral moving wheel 213 touches the ground, the walking mechanism main frame 201 continues to rise with the reaction force. When the height reaches a certain position, the height sensor 211 receives a signal and feeds it back to the computer to stop the lifting system motor 2041. At this time, the cup-cone positioner 207 and the cup-cone long circle direction positioner 208 are separated from the cone positioner 205, and the plane reference support 206 is separated from the 209 reference plane support.

[0067] Step 2: At this time, the lateral moving wheel 213 contacts the ground track, as shown in FIG. Figure 12 The operating computer shown drives the transverse drive motor 2121, causing the transmission shaft (2126) to drive the transverse moving wheel 203 to move. At this time, the entire vertical tail tooling moves transversely along the ground track to enter the next station for work.

[0068] Step 3. When the theoretical position of the next station is reached, the sensor antenna 210 will receive a signal based on the sensor target point previously configured on the ground and feedback it to the computer to stop the lateral drive motor 2121. At this time, the computer needs to be operated to drive the lifting system motor 2041 to drive the transmission mechanism to move the lifting axis of the screw jack 2044 downward to move the walking mechanism main frame 201 downward as a whole until the cup-cone locator 207, the cup-cone long circle direction locator 208, and the reference surface support 209 are completely fitted with the cone locator 205 and the plane reference support 206 on the ground. At this time, the positioning is completed; the height sensor 211 receives a signal and feedbacks it to the computer to stop the lifting system motor 2041. The current state is the position positioning completion state of this station. At this time, assembly or machine tool milling and hole making work can be carried out at this station.

[0069] Step 4: If there is a need for a combined horizontal and vertical movement between the next station and the previous station, the jig moves to the location where the track needs to be changed, such as Figure 13As shown, during a track change, the sensor antenna 210 receives a signal based on the sensor target configured on the ground, and feeds it back to the computer, causing the transverse drive motor 2121 to stop. At this point, the computer controls the lifting system motor 2041, which drives the transmission mechanism to move the lifting shaft of the screw jack 2044 upward, causing the entire walking mechanism main frame 201 to move downward relative to the transverse moving wheels 213. During this movement, the longitudinal moving wheels 203 gradually lower along with the walking mechanism main frame 201 until they touch the ground. After contacting the ground, the lifting system motor 2041 continues to operate, causing the transverse moving wheels 213 to continue to rise off the ground until the limit switch 214 is triggered, at which point the motor stops. At this point, the longitudinal moving wheels 203 are in contact with the ground, and the transverse moving wheels 213 are suspended in the air. The computer controls the longitudinal drive system motor 2021, causing the longitudinal moving wheels 203 to rotate and move to the next station.

[0070] Step 5: When the tool moves to station 3 and senses the target point, the horizontal drive motor 2121 stops working. Figure 9 As shown, the retractable shaft 04 under the ground is extended out of the ground and inserted into the rotating centering mechanism 5 in the main frame 1 through computer control, driving the lifting system motor 2041 to make the longitudinal moving wheel 203 touch the ground, while the transverse moving wheel 213 is suspended in the air (the specific process is as shown in step 4), so that the self-propelled mechanism 02 moves along the circular track to complete the tooling flip, and then drives the lifting system motor 2041 again to make the transverse moving wheel 213 touch the ground and move to the next station.

[0071] Example 2

[0072] This embodiment is basically the same as the embodiment 1, except that the self-propelled mechanisms 2 on both sides are both equipped with a transverse drive system 212, and the two sets of transverse drive systems 212 move synchronously.

[0073] The above-described embodiments merely express the implementation methods of the present invention, but should not be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A self-propelled tool for assembling an aircraft vertical tail, characterized in that: The self-propelled tooling comprises a main frame (1), a self-propelled mechanism (2), a vertical tail fin positioner (3), a retractable shaft (4), and a rotation centering mechanism (5); The main frame (1) is in a U-shape with an opening facing upwards. A plurality of vertical tail positioners (3) of different models are installed in the U-shaped opening. The installation position and model of the vertical tail positioner (3) are determined according to needs. A set of self-propelled mechanisms (2) are installed at both ends of the bottom of the main frame (1). A rotating centering mechanism (5) is installed in the middle of the bottom of the main frame (1) for turning over the entire self-propelled tooling. A hole is provided at the bottom end of the rotating centering mechanism (5). The retractable shaft (4) is installed on the ground at the turning position of the self-propelled tooling and is inserted into the hole of the rotating centering mechanism (5). The two are used in conjunction with each other. A ground track is laid on the ground for coordinating the movement of the self-propelled tooling. The self-propelled mechanism (2) comprises a main frame of the walking mechanism (201), a longitudinal drive system (202), longitudinal moving wheels (203), a lifting drive system (204), a cone positioner (205), a plane reference support (206), a cup-cone positioner (207), a cup-cone long circle direction positioner (208), a reference plane support (209), a sensing antenna (210), a height sensor (211), a transverse drive system (212), transverse moving wheels (213) and a limit switch (214); specifically: The walking mechanism main frame (201) is provided with a longitudinal drive system (202), a transverse drive system (212) and a lifting drive system (204), which are respectively used to drive the self-propelled tooling to move longitudinally along the ground, to move transversely and to lift and lower vertically along the ground; The longitudinal drive system (202) includes a longitudinal drive system motor (2021), a transmission belt 1 (2022), a main transmission shaft (2023), a longitudinal drive system frame (2024), a transmission belt 2 (2025), and an auxiliary transmission shaft (2026); the longitudinal drive system motor (2021) is fixed on the longitudinal drive system frame (2024), and its transmission end is connected to the transmission belt 1 (2022), and the other end of the transmission belt 1 (2022) is connected to the main transmission shaft (2023), and one end of the transmission belt 2 (2025) is connected to the transmission end of the main transmission shaft (2023), and the other end is connected to the auxiliary transmission shaft (2026). A secondary transmission shaft (2026), the longitudinal moving wheel (203) is installed on the two transmission shafts, and the main transmission shaft (2023), the secondary transmission shaft (2026) and the longitudinal moving wheel (203) are all arranged on the longitudinal drive system frame (2024); the longitudinal drive system (202) is fixedly installed on the walking mechanism main frame (201), and the longitudinal moving wheel (203) is located at the lower end of the walking mechanism main frame (201) and is used to drive the longitudinal moving wheel (203) to achieve longitudinal movement along the ground track; the longitudinal drive system (202) is installed in both self-propelled mechanisms (2), and the two move synchronously; The lifting drive system (204) includes a lifting system motor (2041), a coupling A (2042), a drive shaft (2043), a screw jack (2044), and a gearbox (2045); after the coupling A (2042) is installed at both ends of the drive shaft (2043), one end is installed on the transmission end of the lifting system motor (2041), and the other end is connected to the gearbox (2045); the output ends of the gearbox (2045) are respectively installed with the coupling A (2042) and then respectively connected to the screw jack (2044); the screw jack (2044) includes a mounting frame and a lifting shaft; the lifting drive system (204) is fixedly installed on the walking mechanism main frame (201), wherein the mounting frame in the screw jack (2044) is fixedly connected to the walking mechanism main frame (201), and the lifting shaft passes through the walking mechanism main frame (201) and can move up and down in the walking mechanism main frame (201); The transverse drive system (212) comprises a transverse drive motor (2121), a reducer (2122), a coupling B (2123), a transmission (2124), a universal coupling (2125), and a transmission shaft (2126); the transmission end of the transverse drive motor (2121) is connected to the reducer (2122), the other end of the reducer (2122) is connected to the coupling B (2123), the other end of the coupling B (2123) is connected to the transmission (2124), the output ends on both sides of the transmission (2124) are respectively connected to the universal coupling (2125), and the two ends are connected to the transmission shaft (2126). The ends of the universal couplings (2125) are respectively connected to the transmission shafts (2126), and the two transmission shafts (2126) are respectively installed with transverse moving wheels (213); the transverse driving system (212) is fixedly connected to the lower end of the lifting shaft of the screw jack (2044) in the lifting driving system (204), so that it can perform lifting and lowering motion relative to the walking mechanism main frame (201), wherein the transverse moving wheel (213) is located at the lower end of the transverse driving system (212), and the transverse driving system (212) drives the transverse moving wheel (213) to achieve transverse movement along the ground track; The cup-cone positioner (207), the cup-cone long circle direction positioner (208) and the two groups of reference plane supports (209) are installed on the bottom surface of the walking mechanism main frame (201), wherein the cup-cone positioner (207) and the reference plane support (209) are respectively installed at both ends of the bottom surface of one walking mechanism main frame (201), and the cup-cone long circle direction positioner (208) and the reference plane support (209) are respectively installed at both ends of the bottom surface of the other walking mechanism main frame (201), and the two reference plane supports (209) are arranged diagonally, and the cup-cone positioner (207) and the cup-cone long circle direction positioner (208) are arranged diagonally; at the same time, the bottom end surfaces of the cup-cone positioner (207), the cup-cone long circle direction positioner (208) and the reference plane support (209) are higher than the lower end of the longitudinal moving wheel (203), so that the transverse moving wheel (213) can touch the ground; The cone positioner (205) and the plane reference support (206) are positioned and installed on the ground in the station. Two cone positioners (205) and two plane reference supports (206) are installed in each station. The installation positions thereof correspond to the cup-cone positioners (207), the cup-cone long circle direction positioners (208) and the reference surface support (209) on the two self-propelled mechanisms (2). The two groups of cone positioners (205) correspond to the cup-cone positioners (207) and the cup-cone long circle direction positioners (208) and are used in conjunction with each other. The two groups of plane reference supports (206) correspond to the two groups of reference surface supports (209) and are used in conjunction with each other to position and fix the self-propelled tooling in the station. The sensor antenna (210) is installed on the main frame (201) of the walking mechanism, and a sensor target is installed at a corresponding position on the ground of the station. The two cooperate with each other. When the self-propelled tool moves to the horizontal position corresponding to the sensor target, the sensor is triggered and a signal is fed back to the computer; The height sensor (211) is installed on the walking mechanism main frame (201) and is used to sense the lifting height of the transverse drive system (212). When it moves to the corresponding vertical position, the sensor is triggered and a signal is fed back to the computer. The limit switch (214) is installed on the walking mechanism main frame (201). When the longitudinal moving wheel (203) contacts the ground and the transverse driving system (212) rises to a corresponding vertical position, the limit switch (214) is triggered to cut off the lifting system motor (2041).

2. The self-propelled tooling for assembling an aircraft vertical tail according to claim 1, characterized in that: Design the walking route of the self-propelled tooling according to the assembly position of the vertical tail, and lay the ground track.

3. The self-propelled tooling for assembling an aircraft vertical tail according to claim 1, characterized in that: The elongated direction of the cup-cone elongated direction locator (208) is aligned with the direction of the line connecting it and the cup-cone locator (207), and is used to compensate for the manufacturing error between the two points.

4. The self-propelled tooling for assembling an aircraft vertical tail according to claim 1, characterized in that: Only one side of the self-propelled mechanism (2) is equipped with a transverse drive system (212), and the other side of the self-propelled mechanism (2) is equipped with only two sets of transverse moving wheels (213) at corresponding positions on its bottom as driven wheels.

5. The self-propelled tooling for assembling an aircraft vertical tail according to claim 1, characterized in that: The self-propelled mechanisms (2) on both sides are both equipped with a transverse drive system (212), and the two sets of transverse drive systems (212) move synchronously.

6. The self-propelled tooling for assembling an aircraft vertical tail according to claim 1, characterized in that: In order to ensure stable movement, longitudinal moving wheels (203) are respectively installed at the bottom of the two sets of longitudinal driving systems (202) as driven wheels, and are respectively arranged in line with the active longitudinal moving wheels (203).

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