Helicopter final assembly digital assembly system and control method

Abstract

The application discloses a helicopter general assembly digital assembly system and a control method, and relates to the field of helicopter general assembly digital assembly systems.The helicopter general assembly digital assembly system comprises a base, a first guide rail and a second guide rail arranged on the base, an adapter tool, a support bracket, two mobile tools, four posture adjusting devices, an automatic guide vehicle, a base lifting device, a measuring device and a control device.The adapter tool is provided with four adapter ball heads; the support bracket is provided with a guide vehicle ball head and a base ball head; the two mobile tools are movably arranged on the first guide rail and are provided with an installation sub-platform; each posture adjusting device is provided with a posture adjusting locking device; the automatic guide vehicle is provided with a vehicle-mounted lifting device and a vehicle-mounted locking device; the base lifting device is provided with a base locking device; the measuring device is arranged on the base; and the control device is arranged on the base. The helicopter general assembly digital assembly system has the advantages of good stability, high assembly precision and the like.

Description

Technical Field

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

[0002] During helicopter assembly, the transmission assembly and engine need to be mounted on the fuselage. The transmission assembly and engine need to be adjusted and docked before being finally installed on the fuselage.

[0003] The assembly method of helicopters in related technologies involves using a crane to suspend the transmission assembly and engine above the fuselage, and then manually adjusting the attitude of the transmission assembly and engine by operators. On the one hand, the transmission assembly and engine are heavy and large in size, making it difficult to maintain stability during the attitude adjustment process, which makes the attitude adjustment difficult. On the other hand, the limitations of manual operation in terms of precision make it difficult to ensure the positioning and assembly accuracy of the transmission assembly and engine. Summary of the Invention

[0004] 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 helicopter final assembly, which has the advantages of good stability and high assembly accuracy.

[0005] The present invention also proposes a control method for the aforementioned helicopter final assembly digital assembly system.

[0006] To achieve the above objectives, according to an embodiment of the first aspect of the present invention, a digital assembly system for helicopter final assembly is provided. The digital assembly system includes: a base, on which a first guide rail oriented in a left-right direction and a second guide rail oriented in a front-rear direction are provided; a transition fixture adapted to be detachably connected to the helicopter's transmission assembly and the helicopter's engine, the lower surface of the transition fixture having four circumferentially spaced transition ball joints; and a support bracket adapted to support the helicopter's fuselage, the lower surface of the support bracket... The system includes a guide ball joint and a base ball joint; two movable fixtures, each with an installation sub-platform, are movably mounted on the first guide rail between a clearance position and a docking position. In the clearance position, the two movable fixtures are spaced apart and have a transport channel between them suitable for the aircraft body to pass through. In the docking position, the two installation sub-platforms dock to form an installation platform, and the installation platform has an installation space below it suitable for accommodating the aircraft body. The installation platform has an installation port suitable for the engine and the transmission assembly to pass through; four attitude adjustment devices. Each of the mounting sub-platforms is equipped with two attitude adjustment devices, each attitude adjustment device having an attitude adjustment locking device. Four adapter ball joints are adapted to be detachably engaged within the four attitude adjustment locking devices. The attitude adjustment devices drive the attitude adjustment locking devices in the left-right, front-back, and vertical directions. An automated guided vehicle (AGV) is also included, capable of horizontal movement on the base and adapted to pass through the transport channel. The AAV is equipped with a vehicle-mounted lifting device, which has a vehicle-mounted locking device. The guide ball joints are adapted to be detachably engaged within the vehicle-mounted... Within the locking device, the vehicle-mounted lifting device is adapted to drive the body to rise and fall; the base lifting device is movably mounted on the second guide rail, and the base lifting device is equipped with a base locking device, the base ball joint being adapted to engage within the base locking device, and the base lifting device being adapted to drive the body to rise and fall; the measuring device is mounted on the base and adapted to measure the position and attitude of the body, the transmission assembly, and the engine; and the control device is electrically connected to the attitude adjustment device, the base lifting device, and the measuring device, respectively.

[0007] The helicopter final assembly digital assembly system according to embodiments of the present invention has advantages such as good stability and high assembly precision.

[0008] In addition, the helicopter final assembly digital assembly system according to the above embodiments of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, each of the attitude adjustment devices includes: a base mounted on the mounting sub-platform; a first horizontal moving platform movably disposed on the base in a left-right direction; a second horizontal moving platform movably disposed on the first horizontal moving platform in a front-back direction; a vertical moving platform movably disposed on the second horizontal moving platform; a first horizontal driving device, driveably connected to the first horizontal moving platform; a second horizontal driving device, driveably connected to the second horizontal moving platform; a vertical driving device, drively connected to the vertical moving platform; and an attitude adjustment locking device disposed on the vertical moving platform.

[0010] According to one embodiment of the present invention, each of the attitude adjustment devices further includes: a first grating ruler, the first grating ruler being electrically connected to the first horizontal drive device and adapted to measure the position of the first horizontal moving platform; a second grating ruler, the second grating ruler being electrically connected to the second horizontal drive device and adapted to measure the position of the second horizontal moving platform; and a vertical grating ruler, the vertical grating ruler being electrically connected to the vertical drive device and adapted to measure the position of the vertical moving platform.

[0011] According to one embodiment of the present invention, the first horizontal drive device is a motor and is connected to the first horizontal moving platform via a gear and rack; the second horizontal drive device is a motor and is connected to the second horizontal moving platform via a ball screw; and the vertical drive device is a motor and is connected to the vertical moving platform via a ball screw.

[0012] According to one embodiment of the present invention, the posture adjustment locking device, the vehicle-mounted locking device and the base locking device are all ball head positioners, and the ball head positioner includes: a lock body, the upper surface of which is provided with a ball socket suitable for accommodating a ball head;

[0013] A locking tongue, movably disposed on the lock body between a release position, an anti-disengagement position, and a locking position, wherein in the release position the locking tongue allows the ball head to disengage from the ball socket; in the anti-disengagement position the locking tongue prevents the ball head from disengaging from the ball socket and allows the ball head to rotate relative to the ball socket; and in the locking position the locking tongue prevents the ball head from disengaging from the ball socket and prevents the ball head from rotating relative to the ball socket; and a locking drive device, which is kinetically connected to the locking tongue.

[0014] According to one embodiment of the present invention, the ball positioner further includes a three-dimensional force sensor located below the lock body.

[0015] According to one embodiment of the present invention, the mobile tooling further includes: a support frame movably mounted on the first guide rail, the mounting sub-platform being mounted on the support frame; a staircase connected to the support frame and adapted for operators to ascend the mounting sub-platform; and a guardrail disposed along the edge of the mounting sub-platform.

[0016] According to one embodiment of the present invention, each of the mounting sub-platforms has an mounting notch along its edge facing the other mounting sub-platform, and the two mounting notches together define the mounting opening at the docking position.

[0017] According to one embodiment of the present invention, there are multiple measuring devices, and each of the second guide rails is provided with multiple measuring devices spaced apart.

[0018] According to an embodiment of the second aspect of the present invention, a control method for a helicopter final assembly digital assembly system according to an embodiment of the first aspect of the present invention is provided, comprising the following steps:

[0019] S1. Move the mobile tooling to the avoidance position, lower the base lifting device, and transport the machine body to the transport channel. The machine body is supported on the support bracket, and the support bracket is supported on the vehicle-mounted lifting device.

[0020] S2. The base lifting device rises to support the support bracket, the vehicle-mounted lifting device descends, the vehicle-mounted locking device disengages from the vehicle-mounted ball joint, the automated guided vehicle drives out of the transport channel, the base lifting device descends, and the moving tooling moves to the docking position.

[0021] S3. The transmission assembly connected to the adapter fixture is hoisted above the mounting port. The adapter ball head is fitted into the attitude adjustment locking device. The measuring device measures the position and attitude of the machine body and the transmission assembly. The control device plans the docking trajectory of the transmission assembly according to the detection results of the measuring device. The four attitude adjustment devices complete the docking of the transmission assembly and the machine body according to the docking trajectory.

[0022] S4. After completing the installation of the transmission assembly and the machine body, remove the adapter fixture;

[0023] S5. The moving tool moves to the avoidance position, the base lifting device moves in the front-back direction and drives the machine body to move a predetermined distance, and the moving tool moves to the docking position;

[0024] S6. Adjust the position of the moving tool in the left and right direction so that the mounting port corresponds vertically to the mounting position of one of the two engines on the machine body;

[0025] S7. The engine connected to the adapter fixture is hoisted above the mounting port, the adapter ball head is fitted into the attitude adjustment locking device, the measuring device measures the position and attitude of the fuselage and the engine, the control device plans the docking trajectory of the engine according to the detection result of the measuring device, and the four attitude adjustment devices complete the docking of the engine and the fuselage according to the docking trajectory.

[0026] S8. After completing the installation of the engine and the fuselage, remove the adapter fixture;

[0027] S9. Repeat steps S6-S8 to complete the installation of the other engine;

[0028] S10. The mobile tooling moves to the avoidance position, the base lifting device rises, the automatic guide vehicle enters the transport channel, the base lifting device descends, the vehicle-mounted lifting device supports the machine body, the base locking device disengages from the base ball head, and the automatic guide vehicle exits the transport channel.

[0029] The control method for the helicopter final assembly digital assembly system according to the embodiments of the present invention has the advantages of good stability and high assembly accuracy by utilizing the helicopter final assembly digital assembly system described in the first aspect of the present invention.

[0030] 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

[0031] 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:

[0032] Figure 1 This is a schematic diagram of the structure of a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0033] Figure 2 This is a partial structural schematic diagram of a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram of the structure of a mobile tooling in a helicopter final assembly digital assembly system according to an embodiment of the present invention, wherein the mobile tooling is in an avoidance position.

[0035] Figure 4 This is a schematic diagram of the structure of a mobile tooling in a helicopter final assembly digital assembly system according to an embodiment of the present invention, wherein the mobile tooling is at the docking position.

[0036] Figure 5 This is a partial structural schematic diagram of a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0037] Figure 6 This is a partial structural schematic diagram of a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0038] Figure 7 This is a partial structural schematic diagram of a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0039] Figure 8 This is a schematic diagram of the attitude adjustment device of the helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0040] Figure 9 This is a schematic diagram of the ball head positioner of the helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0041] Figure 10 This is a cross-sectional view of the ball joint positioner of the helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0042] Figure 11 This is a schematic diagram of the ball head positioner of the helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0043] Figure 12 This is a schematic diagram of the structure of an automated guided vehicle for a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0044] Figure 13 This is a schematic diagram of the working process of the helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0045] Figure 14 This is a flowchart of a control method for a helicopter final assembly digital assembly system according to an embodiment of the present invention.

[0046] Figure reference numerals: Helicopter final assembly digital assembly system 1, base 10, first guide rail 11, second guide rail 12, transfer tooling 20, support bracket 30, moving tooling 40, installation sub-platform 41, bracket 42, stairs 43, guardrail 44, transport channel 45, installation platform 46, installation space 47, installation port 48, attitude adjustment device 50, attitude adjustment locking device 51, base 52, first horizontal moving platform 53, second horizontal moving platform 54, vertical moving platform 55, automatic guided vehicle 60, vehicle-mounted lifting device 61, vehicle-mounted locking device 62, base lifting device 70, base locking device 71, measuring device 80, ball joint positioner 90, lock body 91, ball socket 92, lock tongue 93, locking drive device 94, three-dimensional force sensor 95, transmission assembly 2, engine 3, fuselage 4. Detailed Implementation

[0047] 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.

[0048] 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.

[0049] 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.

[0050] The following description, with reference to the accompanying drawings, describes a helicopter final assembly digital assembly system 1 according to an embodiment of the present invention.

[0051] like Figures 1-14 As shown, the helicopter final assembly digital assembly system 1 according to an embodiment of the present invention includes a base 10, a transfer tool 20, a support bracket 30, two moving toolings 40, four attitude adjustment devices 50, an automated guided vehicle (AGV) 60, a base lifting device 70, a measuring device 80, and a control device.

[0052] The base 10 is provided with a first guide rail 11 oriented in the left-right direction and a second guide rail 12 oriented in the front-back direction (the up-down, left-right and front-back directions are shown by the arrows in the figure).

[0053] The adapter 20 is adapted to be detachably connected to the helicopter's transmission assembly 2 and the helicopter's engine 3. The lower surface of the adapter 20 is provided with four adapter ball joints spaced circumferentially apart. It should be understood here that "the adapter 20 is adapted to be detachably connected to the helicopter's transmission assembly 2 and the helicopter's engine 3" means that the adapter 20 can be detachably connected to either the transmission assembly 2 or the engine 3, and the adapter 20 can be detachably connected to either the transmission assembly 2 or the engine 3 simultaneously.

[0054] The support bracket 30 is suitable for supporting the fuselage 4 of a helicopter, and the lower surface of the support bracket 30 is provided with a guide ball joint and a base ball joint.

[0055] The mobile fixture 40 has a mounting sub-platform 41. Two mobile fixtures 40 are movably mounted on the first guide rail 11 between a clearance position and a docking position. In the clearance position, the two mobile fixtures 40 are spaced apart and there is a transport channel between them suitable for the fuselage 4 to pass through. In the docking position, the two mounting sub-platforms 41 dock to form a mounting platform 46, and there is a mounting space 47 below the mounting platform 46 suitable for accommodating the fuselage 4. The mounting platform 46 has a mounting port 48 suitable for the engine 3 and the transmission assembly 2 to pass through. It should be understood here that "the mounting port 48 is suitable for the engine 3 and the transmission assembly 2 to pass through" means that the mounting port 48 is suitable for the transmission assembly 2 to pass through and the engine 3 to pass through, and at the same time, one of the transmission assembly 2 and the engine 3 is suitable for passing through the mounting port 48.

[0056] Each installation sub-platform 41 is provided with two attitude adjustment devices 50, and each attitude adjustment device 50 is provided with an attitude adjustment locking device 51. The four adapter ball heads are adapted to be detachably engaged in the four attitude adjustment locking devices 51 respectively. The attitude adjustment devices 50 drive the attitude adjustment locking devices 51 in the left-right direction, the front-back direction and the vertical direction.

[0057] The automated guided vehicle 60 is horizontally movable on the base 10 and adapted to pass through the transport channel 45. 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 locking device 62. The guide vehicle ball joint is adapted to be detachably engaged within the vehicle-mounted locking device 62. The vehicle-mounted lifting device 61 is adapted to drive the body 4 to rise and fall. Specifically, the automated guided vehicle 60 is adapted to pass through the transport channel 45 while supporting the body 4.

[0058] The base lifting device 70 is movably mounted on the second guide rail 12. The base lifting device 70 is equipped with a base locking device 71. The base ball head is adapted to fit into the base locking device 71. The base lifting device 70 is adapted to drive the body 4 to lift.

[0059] The measuring device 80 is mounted on the base 10 and is suitable for measuring the position and orientation of the fuselage 4, the transmission assembly 2 and the engine 3.

[0060] The control device is electrically connected to the attitude adjustment device 50, the base lifting device 70, and the measuring device 80, respectively.

[0061] The following is for reference. Figure 13 The working process of the helicopter final assembly digital assembly system 1 according to an embodiment of the present invention is described.

[0062] like Figure 13 As shown in step a, the moving fixtures 40 move away from each other and move to the avoidance position, and the base lifting device 70 is lowered to the lowest height to make way for the machine body 4 to enter the station.

[0063] like Figure 13 As shown in step b, the automated guided vehicle 60 transports the body 4 from the previous process into the transport channel 45. The body 4 is supported on the support bracket 30, which is supported on the vehicle-mounted lifting device 61 of the automated guided vehicle 60.

[0064] like Figure 13 As shown in step c, the automated guided vehicle 60 is positioned by the markers set on the ground, and the base lifting device 70 rises, so that the support bracket 30 is supported by the base lifting device 70 instead of the vehicle-mounted lifting device 61.

[0065] like Figure 13 As shown in step d, after the vehicle-mounted lifting device 61 supports the body 4, the vehicle-mounted lifting device 61 descends and separates from the support bracket 30, and the automated guided vehicle 60 drives out of the transport channel 45.

[0066] like Figure 13 As shown in step e, the base lifting device 70 descends, and the moving fixture 40 moves to the docking position.

[0067] like Figure 13 As shown in step f, the adapter 20 for installing the transmission assembly 2 is hoisted above the mounting port 48, so that the adapter ball head fits into the attitude adjustment locking device 51, and the attitude adjustment locking device 51 is switched to the anti-detachment state.

[0068] like Figure 13 As shown in step gi, the measuring device 80 measures the attitude of the fuselage 4 and the transmission assembly 2, and feeds the measurement data back to the control device. The control device plans the docking trajectory of the transmission assembly 2 according to the measurement data of the measuring device 80, and the four attitude adjustment devices 50 automatically complete the docking work according to the planned path.

[0069] like Figure 13 As shown in step j, the operator completes the final connection between the transmission assembly 2 and the machine body 4 on the installation platform 46 and removes the adapter tooling 20.

[0070] like Figure 13As shown in step k, the moving fixture 40 separates to both sides to a clearance position, and the machine body 4 moves forward a predetermined distance via the base lifting device 70 on the second guide rail 12. This predetermined distance is the distance between the connection position of the engine 3 on the machine body 4 and the connection position of the transmission assembly 2 on the machine body 4 along the length direction of the machine body 4. In other words, the machine body 4 is moved to a position suitable for installing the engine 3 by the movement of the base lifting device 70, that is, the mounting port 48 corresponds to the mounting position of the engine 3 in the vertical direction.

[0071] like Figure 13 As shown in step i, the moving fixture 40 moves inward to the docking position.

[0072] like Figure 13 As shown in step m, for a helicopter with two engines 3, considering that the two engines 3 are arranged along the width direction of the fuselage 4, the engines 3 are not located in the center of the fuselage 4. It is necessary to adjust the position of the moving fixture 40 so that the mounting port 48 is directly opposite the mounting position of one of the engines 3.

[0073] like Figure 13 As shown in step n, the adapter 20 with engine 3 installed is hoisted above the mounting port 48, so that the adapter ball head fits into the attitude adjustment locking device 51.

[0074] like Figure 13 As shown in steps o and p, the engine 3 is adjusted by four attitude adjustment devices 50 according to the trajectory detected by the measuring device 80, so as to realize the automatic docking of the engine 3 and the fuselage 4.

[0075] Repeat the installation steps for engine 3 once to complete the installation of the other engine 3.

[0076] like Figure 13 As shown in step q, the moving fixture 40 separates outward.

[0077] like Figure 13 As shown in step r, the base lifting device 70 rises, the automated guided vehicle 60 enters the transport channel 45, the base lifting device 70 descends, and the fuselage 4 is transferred from the base lifting device 70 to the vehicle-mounted lifting device 61. The fuselage 4 then separates from the base lifting device 70.

[0078] like Figure 13 As shown in step s, the automated guided vehicle 60 transports the fuselage 4, which is equipped with the transmission assembly 2 and the engine 3, out of the transport channel 45, at which point the entire docking operation is completed.

[0079] According to the helicopter final assembly digital assembly system 1 of the present invention, by setting up the adapter 20, the attitude adjustment device 50 and the transmission assembly 2, as well as the attitude adjustment device 50 and the engine 3 can be connected by the adapter 20, so that the attitude adjustment device 50 can be detachably connected to the components with different shapes and structures.

[0080] By using the adapter ball joint and the attitude adjustment locking device 51, not only can the adapter tooling 20 and the attitude adjustment device 50 be detachably connected, but a ball joint can also be formed during the connection. This avoids restricting the movement of the attitude adjustment device 50 and the adapter tooling 20 by the connection between the adapter tooling 20 and the attitude adjustment device 50, making it easier to achieve more flexible and stable position adjustment of the transmission assembly 2 and the engine 3.

[0081] By setting up the support bracket 30, the body 4 can be supported, which facilitates the support and positioning of the body 4 by the base lifting device 70 and the vehicle-mounted lifting device 61, thus avoiding the need to set up additional transition structures on the body 4.

[0082] By setting the guide ball joint and the vehicle-mounted locking device 62, not only can the support bracket 30 and the vehicle-mounted lifting device 61 be detachably connected, but a ball joint can also be formed when connected, so as to avoid the connection between the support bracket 30 and the vehicle-mounted lifting device 61 restricting the movement of the vehicle-mounted lifting device 61 and the support bracket 30, and facilitate more flexible and stable position adjustment of the fuselage 4.

[0083] By setting the base ball head and the base lifting device 70, not only can the support bracket 30 and the base lifting device 70 be detachably connected, but a ball joint can also be formed when connected, so as to avoid the connection between the support bracket 30 and the base lifting device 70 restricting the movement of the base lifting device 70 and the support bracket 30, and facilitate more flexible and stable position adjustment of the fuselage 4.

[0084] By setting up movable tooling 40 and a first guide rail 11, the two movable tooling 40s are movably mounted on the first guide rail 11 between a clearance position and a docking position. In this way, before assembly, the two movable tooling 40s are moved to the clearance position so that the automated guided vehicle 60 can transport the body 4 to the transport channel. After that, the two movable tooling 40s are moved to the docking position, and the two mounting sub-platforms 41 dock to form a mounting platform 46. The mounting platform 46 has a mounting space 47 suitable for accommodating the body 4 below it. The mounting platform 46 has a mounting port 48 suitable for the engine 3 and the transmission assembly 2 to pass through. At this time, the body 4 is in the mounting space 47, and the transmission assembly 2 and the engine 3 can dock with the body 4 through the mounting port 48. Thus, the two movable fixtures 40 after docking can facilitate the coordinated movement of the four attitude adjustment devices 50 on the two movable fixtures 40. On the other hand, the operator can operate on the installation platform 46, such as completing the final installation steps after attitude adjustment and docking. The installation space 47 can accommodate the fuselage, and the installation port 48 can facilitate the transmission assembly 2 and the engine 3 to pass through and dock with the fuselage 4.

[0085] By setting four attitude adjustment devices 50, each attitude adjustment device 50 can drive the attitude adjustment locking device 51 in three degrees of freedom. The four attitude adjustment devices 50 can drive the adapter tooling 20 to perform position and posture adjustments in multiple degrees of freedom through the connection between the attitude adjustment locking device 51 and the adapter ball joint, thereby improving the flexibility and accuracy of the position and posture adjustment of the transmission assembly 2 and the engine 3.

[0086] By setting up an automated guided vehicle 60, the transportation of the fuselage 4 can be facilitated, for example, by transporting the fuselage 4 from the previous process to the helicopter final assembly digital assembly system 1 or from the helicopter final assembly digital assembly system 1 to the next process.

[0087] By setting up a vehicle-mounted lifting device 61, the vehicle-mounted lifting device 61 can be used to support the body 4 and drive the body 4 to rise and fall, so as to adjust the height of the body 4 on the automated guided vehicle 60.

[0088] By setting up a base lifting device 70, the base lifting device 70 can be used to support the body 4 and drive the body 4 to rise and fall, so as to adjust the height of the body 4 on the base 10.

[0089] By movably mounting the base lifting device 70 on the second guide rail 12, the position of the fuselage 4 in the front-rear direction can be adjusted by moving the base lifting device 70 on the second guide rail 12. For example, after the transmission assembly 2 is installed, the fuselage 4 can be moved to the position where the engine 3 is installed.

[0090] By setting up the measuring device 80, the position and attitude of the fuselage 4, transmission assembly 2 and engine 3 can be measured, thereby facilitating the adjustment device 50 and the base lifting device 70 to adjust the position and attitude of the fuselage 4, transmission assembly 2 and engine 3 according to the measurement results.

[0091] By setting up the control device, the coordinated control of the four attitude adjustment devices 50 and the base lifting device 70 can be realized, which facilitates the digital control of the helicopter final assembly digital assembly system 1.

[0092] In other words, the helicopter final assembly digital assembly system 1, through the coordinated attitude adjustment of four attitude adjustment devices 50, compared with the manual attitude adjustment and docking method used in related technologies, can maintain the stability of the engine 3 and transmission assembly 2 during the attitude adjustment process, and improve the accuracy of attitude adjustment, thus ensuring the installation accuracy of the engine 3 and transmission assembly 2.

[0093] The helicopter final assembly digital assembly system 1 can realize the digital control of the transportation and positioning of the fuselage 4, as well as the attitude adjustment and docking of the transmission assembly 2 and the engine 3. Compared with manual operation, it is more time-saving and labor-saving, reduces the difficulty of operation, and the use of attitude adjustment device 50 to realize digital attitude adjustment and docking can facilitate the guarantee of stability and accuracy.

[0094] Therefore, the helicopter final assembly digital assembly system 1 according to the present invention has the advantages of good stability and high assembly accuracy.

[0095] The following description, with reference to the accompanying drawings, describes a helicopter final assembly digital assembly system 1 according to a specific embodiment of the present invention.

[0096] In some specific embodiments of the present invention, such as Figures 1-14 As shown, the helicopter final assembly digital assembly system 1 according to an embodiment of the present invention includes a base 10, a transfer tooling 20, a support bracket 30, two moving toolings 40, four attitude adjustment devices 50, an automatic guide vehicle 60, a base lifting device 70, a measuring device 80, and a control device.

[0097] Specifically, such as Figure 8As shown, each attitude adjustment device 50 includes a base 52, a first horizontal moving platform 53, a second horizontal moving platform 54, a vertical moving platform 55, a first horizontal drive device, a second horizontal drive device, and a vertical drive device. The base 52 is mounted on the mounting sub-platform 41. The first horizontal moving platform 53 is movably mounted on the base 52 in the left-right direction. The second horizontal moving platform 54 is movably mounted on the first horizontal moving platform 53 in the front-back direction. The vertical moving platform 55 is movably mounted on the second horizontal moving platform 54 in the up-down direction. The first horizontal drive device is driveably connected to the first horizontal moving platform 53. The second horizontal drive device is driveably connected to the second horizontal moving platform 54. The vertical drive device is driveably connected to the vertical moving platform 55, and the attitude adjustment locking device 51 is mounted on the vertical moving platform 55. This facilitates the driving of the attitude adjustment device 50 on the attitude adjustment locking device 51 in three degrees of freedom: up-down, front-back, and left-right, thereby enabling the four attitude adjustment devices 50 to adjust the attitude of the adapter tooling 20.

[0098] Specifically, the base 52 can be made of QT300 cast material to ensure precision and structural strength, thereby ensuring load-bearing capacity and stability.

[0099] Advantageously, each attitude adjustment device 50 further includes a first grating ruler, a second grating ruler, and a vertical grating ruler. The first grating ruler is electrically connected to the first horizontal drive device and is adapted to measure the position of the first horizontal moving platform 53. The second grating ruler is electrically connected to the second horizontal drive device and is adapted to measure the position of the second horizontal moving platform 54. The vertical grating ruler is electrically connected to the vertical drive device and is adapted to measure the position of the vertical moving platform 55. This facilitates precise control of the attitude adjustment device 50.

[0100] More advantageously, the first horizontal drive device is a motor and is connected to the first horizontal moving platform 53 via a gear and rack; the second horizontal drive device is a motor and is connected to the second horizontal moving platform 54 via a ball screw; and the vertical drive device is a motor and is connected to the vertical moving platform 55 via a ball screw. This allows the attitude adjustment device 50 to be driven in three degrees of freedom, and enables the first horizontal drive device to drive the first horizontal moving platform 53 with characteristics such as resistance to eccentric loads, strong heavy-load capacity, and high motion stiffness. Furthermore, it provides smooth low-speed movement without crawling, strong vibration resistance, and high operating speed.

[0101] Figures 9-11 A digital assembly system 1 for helicopter final assembly is shown, according to some examples of the present invention. For example... Figures 9-11As shown, the attitude adjustment locking device 51, the vehicle-mounted locking device 62, and the base locking device 71 are all ball head positioners 90. Each ball head positioner 90 includes a lock body 91, a latch 93, and a locking drive device 94. The upper surface of the lock body 91 has a ball socket 92 suitable for accommodating a ball head. The latch 93 is movably disposed on the lock body 91 between a release position, an anti-disengagement position, and a locking position. In the release position, the latch 93 allows the ball head to disengage from the ball socket 92; in the anti-disengagement position, the latch 93 prevents the ball head from disengaging from the ball socket 92 and allows the ball head to rotate relative to the ball socket 92; in the locking position, the latch 93 prevents the ball head from disengaging from the ball socket 92 and prevents the ball head from rotating relative to the ball socket 92. The locking drive device 94 is drively connected to the latch 93. It should be understood that the adapter ball head, guide ball head, and base ball head all belong to the ball head category. This allows the ball positioner 90 to switch between three states, thereby controlling the engagement state between the ball positioner 90 and the ball.

[0102] Specifically, the locking drive device 94 can be a handle and be manually driven, or it can be an electric drive device and be electrically driven.

[0103] Advantageously, such as Figure 10 As shown, the ball positioner 90 also includes a three-dimensional force sensor 95 located below the lock body. This allows the three-dimensional force sensor 95 to detect the force acting on the ball positioner 90, and by feeding back the force acting on the ball positioner 90 to the attitude adjustment device 50, the attitude adjustment device 50 can be easily controlled, further improving the stability and reliability of the attitude adjustment process.

[0104] Figure 3 and Figure 4 A digital assembly system 1 for helicopter final assembly is shown, according to some examples of the present invention. For example... Figure 3 and Figure 4 As shown, the movable fixture 40 also includes a support 42, a staircase 43, and a guardrail 44. The support 42 is movably mounted on the first guide rail 11, and the mounting sub-platform 41 is mounted on the support 42. The staircase 43 is connected to the support 42 and facilitates the operator's access to the mounting sub-platform 41. The guardrail 44 is located at the edge of the mounting sub-platform 41. The support 42 facilitates the support of the mounting sub-platform 41, creating an installation space below the mounting platform 46. The staircase 43 facilitates the operator's access to the mounting sub-platform 41. The guardrail 44 can be used to prevent the operator from falling from the edge of the mounting sub-platform 41.

[0105] Specifically, such as Figure 3 and Figure 4 As shown, each mounting sub-platform 41 has a mounting notch along its edge facing another mounting sub-platform 41, and the two mounting notches together define a mounting opening 48 at the mating position. This facilitates the formation of the mounting opening 48.

[0106] Specifically, after the two installation sub-platforms 41 are docked, four attitude adjustment devices 50 are arranged at intervals around the installation port 48. This facilitates the connection of the four attitude adjustment devices 50 to the adapter fixture 20.

[0107] Optionally, such as Figure 2 As shown, there are multiple measuring devices 80, with multiple measuring devices 80 spaced apart on each second guide rail 12. This facilitates the measurement of the position and orientation of the transmission assembly 2, engine 3, and fuselage 4 from multiple angles.

[0108] Specifically, the adapter 20 may include multiple sub-components that are detachably connected. This facilitates the removal of the adapter 20 after the transmission assembly 2 and engine 3 have been installed, and avoids interference from the installed transmission assembly 2 and engine 3 with the removal of the adapter 20.

[0109] The upper surface of the support bracket 30 may be provided with a buffer pad to cushion the contact between the fuselage 4 and the support bracket 30.

[0110] Multiple support brackets 30 can be arranged at intervals along the length of the fuselage 4. Multiple base lifting devices 70 can be arranged to support both ends of each support bracket 30. Multiple vehicle-mounted lifting devices 61 can be arranged to support both ends of each support bracket 30. This can improve the stability of the fuselage 4.

[0111] The control method of the helicopter final assembly digital assembly system 1 according to an embodiment of the present invention is described below. The control method of the helicopter final assembly digital assembly system 1 according to an embodiment of the present invention includes the following steps:

[0112] S1. Move the mobile tooling to the avoidance position, lower the base lifting device, and transport the machine body to the transport channel. The machine body is supported on the support bracket, and the support bracket is supported on the vehicle-mounted lifting device.

[0113] S2. The base lifting device rises to support the support bracket, the vehicle-mounted lifting device descends, the vehicle-mounted locking device disengages from the vehicle-mounted ball joint, the automated guided vehicle drives out of the transport channel, the base lifting device descends, and the moving tooling moves to the docking position.

[0114] S3. The transmission assembly connected to the adapter fixture is hoisted above the mounting port. The adapter ball head is fitted into the attitude adjustment locking device. The measuring device measures the position and attitude of the machine body and the transmission assembly. The control device plans the docking trajectory of the transmission assembly according to the detection results of the measuring device. The four attitude adjustment devices complete the docking of the transmission assembly and the machine body according to the docking trajectory.

[0115] S4. After completing the installation of the transmission assembly and the machine body, remove the adapter fixture;

[0116] S5. The moving tool moves to the avoidance position, the base lifting device moves in the front-back direction and drives the machine body to move a predetermined distance, and the moving tool moves to the docking position;

[0117] S6. Adjust the position of the moving tool in the left and right direction so that the mounting port corresponds vertically to the mounting position of one of the two engines on the machine body;

[0118] S7. The engine connected to the adapter fixture is hoisted above the mounting port, the adapter ball head is fitted into the attitude adjustment locking device, the measuring device measures the position and attitude of the fuselage and the engine, the control device plans the docking trajectory of the engine according to the detection result of the measuring device, and the four attitude adjustment devices complete the docking of the engine and the fuselage according to the docking trajectory.

[0119] S8. After completing the installation of the engine and the fuselage, remove the adapter fixture;

[0120] S9. Repeat steps S6-S8 to complete the installation of the other engine;

[0121] S10. The mobile tooling moves to the avoidance position, the base lifting device rises, the automatic guide vehicle enters the transport channel, the base lifting device descends, the vehicle-mounted lifting device supports the machine body, the base locking device disengages from the base ball head, and the automatic guide vehicle exits the transport channel.

[0122] The control method of the helicopter final assembly digital assembly system 1 according to the embodiment of the present invention has the advantages of good stability and high assembly accuracy by utilizing the helicopter final assembly digital assembly system 1 according to the above embodiment of the present invention.

[0123] Other components and operations of the helicopter final assembly 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.

[0124] 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.

[0125] 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 helicopter final assembly digital assembly system, characterized in that, The utility model relates to a kind of positioner for helicopter engine and transmission assembly, comprising: Base, first guide rail and second guide rail are provided on the base, and first guide rail is oriented along left and right direction, and second guide rail is oriented along front and back direction; Adapter tool, the adapter tool is suitable for being detachably connected with the transmission assembly of helicopter and the engine of helicopter, and the lower surface of the adapter tool is provided with four adapter ball heads which are circumferentially spaced apart on the adapter tool; Support bracket, the support bracket is suitable for supporting the fuselage of helicopter, and the lower surface of the support bracket is provided with guide car ball head and base ball head; Two mobile tools, the mobile tool has installation sub-platform, and two mobile tools are movably provided on the first guide rail between avoiding position and docking position, two mobile tools are spaced apart from each other in avoiding position, and two mobile tools have transport passage suitable for the passage of fuselage between two mobile tools, installation platform is formed by the docking of two installation sub-platforms in docking position, and installation space suitable for accommodating fuselage is formed below installation platform, and installation platform has installation port suitable for the passage of engine and transmission assembly; Four positioners, two positioners are provided on each installation sub-platform, positioner locking device is provided on each positioner, four adapter ball heads are suitable for being respectively and releasably matched in four positioner locking devices, and positioner drives positioner locking device in left and right direction, front and back direction and vertical direction; Automatic guide car, the automatic guide car is horizontally movable on the base and is suitable for passing through transport passage, and vehicle-mounted jacking device is provided on the automatic guide car, vehicle-mounted locking device is provided on the vehicle-mounted jacking device, guide car ball head is suitable for being releasably matched in vehicle-mounted locking device, and vehicle-mounted jacking device is suitable for driving fuselage to lift; Base jacking device, the base jacking device is movably provided on the second guide rail, base locking device is provided on the base jacking device, base ball head is suitable for being matched in base locking device, and base jacking device is suitable for driving fuselage to lift; Measuring device, the measuring device is provided on the base and is suitable for measuring the position and posture of fuselage, transmission assembly and engine; Control device, the control device is electrically connected with positioner, base jacking device and measuring device respectively.

2. The helicopter final assembly digital assembly system of claim 1, wherein, Each positioner comprises: Base, the base is installed on the installation sub-platform; First horizontal moving platform, the first horizontal moving platform is movably provided on the base in left and right direction; Second horizontal moving platform, the second horizontal moving platform is movably provided on the first horizontal moving platform in front and back direction; Vertical moving platform, the vertical moving platform is movably provided on the second horizontal moving platform up and down; First horizontal driving device, the first horizontal driving device is drivingly connected with the first horizontal moving platform; Second horizontal driving device, the second horizontal driving device is drivingly connected with the second horizontal moving platform; Vertical driving device, the vertical driving device is drivingly connected with the vertical moving platform, and positioner locking device is provided on the vertical moving platform.

3. The helicopter final assembly digital assembly system of Claim 2 wherein, Each positioner further comprises: a first grating ruler, which is electrically connected with the first horizontal driving device and is adapted to measure the position of the first horizontal movable platform; a second grating ruler, which is electrically connected with the second horizontal driving device and is adapted to measure the position of the second horizontal movable platform; a vertical grating ruler, which is electrically connected with the vertical driving device and is adapted to measure the position of the vertical movable platform.

4. The helicopter final assembly digital assembly system of Claim 2 wherein, The first horizontal driving device is a motor and is in driving connection with the first horizontal movable platform through a gear rack, the second horizontal driving device is a motor and is in driving connection with the second horizontal movable platform through a ball screw, and the vertical driving device is a motor and is in driving connection with the vertical movable platform through a ball screw.

5. The helicopter final assembly digital assembly system of Claim 1, wherein, The pose adjusting locking device, the vehicle-mounted locking device and the base locking device are all ball head positioners, which comprise: a lock body, an upper surface of the lock body being provided with a ball socket adapted to accommodate a ball head; a lock tongue, which is movably arranged on the lock body between a release position, a prevention position and a locking position, the lock tongue allowing the ball head to be separated from the ball socket in the release position, the lock tongue preventing the ball head from being separated from the ball socket and allowing the ball head to rotate relative to the ball socket in the prevention position, and the lock tongue preventing the ball head from being separated from the ball socket and preventing the ball head from rotating relative to the ball socket in the locking position; a locking driving device, which is in driving connection with the lock tongue.

6. The helicopter final assembly digital assembly system of Claim 5 wherein, The ball head positioner further comprises a three-dimensional force sensor arranged below the lock body.

7. The helicopter digital assembly system of claim 1, wherein The mobile tool further comprises: a support, which is movably arranged on the first guide rail, and the mounting sub-platform being arranged on the support; stairs, which are connected with the support and are adapted to allow an operator to get on the mounting sub-platform; a guardrail, which is arranged on the edge of the mounting sub-platform.

8. The helicopter digital assembly system of claim 1, wherein, Each of the mounting sub-platforms is provided with a mounting gap towards the edge of another mounting sub-platform, and the two mounting gaps jointly define the mounting port in the docking position.

9. The helicopter digital assembly system of claim 1, wherein, The measuring devices are multiple, and multiple of the measuring devices are arranged on each of the second guide rails at intervals.

10. A control method of the helicopter final assembly digital assembly system according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1, moving the mobile tool to the avoiding position, the base jacking device descending, the automated guided vehicle transporting the fuselage to the transportation channel, the fuselage being supported on the support bracket, and the support bracket being supported on the vehicle-mounted jacking device; S2, the base jacking device ascending to support the support bracket, the vehicle-mounted jacking device descending, the vehicle-mounted locking device being separated from the vehicle-mounted ball head, the automated guided vehicle driving out of the transportation channel, the base jacking device descending, and the mobile tool moving to the docking position. S3, hoist the transmission assembly connected with the adapter tool above the installation port, match the adapter ball head in the attitude adjusting lock device, measure the position and posture of the fuselage and the transmission assembly by the measuring device, plan the docking trajectory of the transmission assembly according to the detection result of the measuring device by the control device, and complete the docking of the transmission assembly and the fuselage by the four attitude adjusting devices according to the docking trajectory; S4, after completing the installation of the transmission assembly and the fuselage, remove the adapter tool; S5, move the mobile tool to the avoiding position, move the fuselage along the front and back directions by the base jacking device, and move the mobile tool to the docking position; S6, adjust the position of the mobile tool in the left and right directions, so that the installation port corresponds to the installation position of one of the two engines on the fuselage in the up and down directions; S7, hoist the engine connected with the adapter tool above the installation port, match the adapter ball head in the attitude adjusting lock device, measure the position and posture of the fuselage and the engine by the measuring device, plan the docking trajectory of the engine according to the detection result of the measuring device by the control device, and complete the docking of the engine and the fuselage by the four attitude adjusting devices according to the docking trajectory; S8, after completing the installation of the engine and the fuselage, remove the adapter tool; S9, repeat steps S6-S8 to complete the installation of the other engine; S10, move the mobile tool to the avoiding position, lift the base jacking device, drive the automatic guided vehicle into the transportation channel, lower the base jacking device, support the fuselage by the vehicle-mounted jacking device, disconnect the base lock device from the base ball head, and drive the automatic guided vehicle out of the transportation channel.

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