Rail-replaceable aircraft skin large-area wall-climbing hole-making system and hole-making method

Abstract

The invention relates to the technical field of skin hole making, in particular to a rail-replaceable aircraft skin large-area wall-climbing hole making system and method, and the system comprises a climbing rail line, a reversing guide rail and a wall-climbing hole making robot; the climbing track line is supported on the side, to be holed, of the skin, and the multiple reversing guide rails are correspondingly supported at one end or two ends of the same side of the climbing track line, and the wall-climbing holing robot has the beneficial effects that transition of the wall-climbing holing robot among different climbing track nets can be achieved through position switching of the reversing guide rails; and meanwhile, the guide rails are communicated with one another to realize large-area drilling of the wall-climbing robot on the guide rail net. When the wall-climbing hole-making robot performs large-area hole-making orbit transfer on the aircraft skin, the work of manually taking down the wall-climbing hole-making robot and enabling the wall-climbing hole-making robot to be matched with a new orbit again is omitted, the skin hole-making process is greatly simplified, and machining continuity and full coverage are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of skin hole making, and in particular to a track-changeable aircraft skin large-area wall-climbing hole making system and a hole making method. Background Art

[0002] In the field of aviation manufacturing, especially in the processing of aircraft wing skins, there are many operations of making holes in large curvature skins in narrow space scenarios. The existing special machine tools are bulky, expensive, and lack flexibility, making it difficult to adapt to changing processing needs and space constraints. Although traditional wall-climbing hole-making robots have advantages in automation and repetitive tasks, they often find it difficult to achieve the required precision and stability in large curvature skin operations, and their operating efficiency and quality are limited.

[0003] In order to solve these problems, a wall-climbing hole-making robot can be used to perform high-speed and efficient hole-making tasks on complex continuous curved surfaces. However, since the wall-climbing hole-making robot uses a rigid guide rail to move on the skin surface and cannot change the rail, the wall-climbing hole-making robot cannot perform hole-making work between different guide rails, and frequent manual intervention is required, which limits the continuity of the hole-making operation and the operating range of the wall-climbing hole-making robot, and restricts the efficiency of the wall-climbing hole-making robot in practical applications. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a track-changeable large-area wall-climbing hole-making system and method for aircraft skin, which solves the technical problem of low efficiency in making holes on the skin by wall-climbing hole-making robots in the prior art.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In the first aspect, the present invention provides a large-area wall-climbing and hole-making system for aircraft skin with changeable tracks, comprising a crawling track line, a reversing guide rail and a wall-climbing and hole-making robot; the crawling track line is supported on the side of the skin to be holed, and the crawling track lines are arranged as one or two groups matching the shape of the skin, and the crawling track lines in the same group all extend in one direction and are arranged as multiple lines; there are multiple reversing guide rails and they are correspondingly supported at one or both ends on the same side of the crawling track lines, so that the wall-climbing and hole-making robot can transfer between adjacent crawling track lines.

[0009] In a second aspect, the present invention provides a skin wall climbing hole making method, which is applied to the track-changeable aircraft skin large-area wall climbing hole making system in the above technical solution, and the hole making method comprises:

[0010] S1: Make the wall-climbing hole-making robot slide along one end of a crawling track line to the other end and complete the hole-making of the skin at the corresponding position;

[0011] S2: Make the reversing guide rail at the downstream end of the corresponding crawling track line so that the wall-climbing hole-making robot can transfer between adjacent crawling track lines;

[0012] S3, making the wall-climbing hole-making robot slide along one end of the next crawling track line to the other end and complete the hole-making of the skin at the corresponding position;

[0013] S4. Repeat S2-S3 until the hole making of the skin is completed.

[0014] (III) Beneficial effects

[0015] The beneficial effects of the present invention are: the large-area wall-climbing hole-making system and hole-making method for aircraft skin with changeable tracks of the present invention, the wall-climbing hole-making robot can perform mobile hole-making operations along the crawling track line, and the reversing guide rail can realize the transition of the wall-climbing hole-making robot between different crawling track lines by position switching. In this way, when the wall-climbing hole-making robot changes track, the work of manually removing the wall-climbing hole-making robot and realigning the wall-climbing hole-making robot with the new track is omitted, which greatly simplifies the skin hole-making process and ensures the continuity and full coverage of the processing.

[0016] Because there is no need for frequent manual intervention, the skin hole making operation becomes more continuous, which improves the efficiency of skin hole making. At the same time, it also enables the wall-climbing hole-making robot to reliably slide from one end of the crawling track to the other end, thereby ensuring the operating range of the wall-climbing hole-making robot and improving the overall effect of skin hole making. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is one of the structural schematic diagrams of the track-changeable large-area wall-climbing hole-making system for aircraft skin of the present invention;

[0018] Figure 2 This is the second structural schematic diagram of the track-changeable large-area wall-climbing hole-making system for aircraft skin of the present invention;

[0019] Figure 3 This is the third structural schematic diagram of the track-changeable large-area wall-climbing hole-making system for aircraft skin of the present invention;

[0020] Figure 4 This is the fourth structural schematic diagram of the track-changeable large-area wall-climbing hole-making system for aircraft skin of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the driving device of the present invention;

[0022] Figure 6This is a schematic diagram of the structure of the wall-climbing hole-making robot of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the posture adjustment mechanism of the present invention;

[0024] Figure 8 It is a structural schematic diagram of the shaft feeding processing mechanism of the present invention.

[0025] [Description of Reference Numerals]

[0026] 1. Guide rail unit; 100. lateral rail; 200. longitudinal rail; 2. reversing guide rail; 3. wall-climbing hole-making robot; 31. posture adjustment mechanism; 311. first slide; 312. second slide; 313. first swing frame; 3131. first motor; 3132. first frame; 314. second swing frame; 3141. second motor; 3142. second frame; 32. spindle feeding processing mechanism; 321. third slide; 322. hole-making drill; 33. walking mechanism; 331. V-shaped wheel; 4. first intermediate guide rail; 5. second intermediate guide rail; 6. support frame; 7. skin support part; 8. edge support part; 9. driving device; 91. driving member; 92. base; 93. bearing inner ring; 94. bearing outer ring; 95. top plate; 10. label. DETAILED DESCRIPTION

[0027] In order to better explain the present invention, so as to facilitate understanding, the following Figure 1-Figure 8 , the present invention is described in detail through specific implementation methods.

[0028] Embodiment 1:

[0029] Reference Figure 1-Figure 8 An embodiment of the present invention provides a large-area wall-climbing and hole-making system for aircraft skin with a changeable track, comprising a crawling track line, a reversing guide rail 2 and a wall-climbing and hole-making robot 3; the crawling track line is supported on the side of the skin to be holed, and the crawling track line is arranged as one or two groups matching the shape of the skin, and the crawling track lines in the same group all extend in one direction and are arranged as multiple lines; the reversing guide rail 2 is multiple and correspondingly supported on one or both ends of the same side of the crawling track line, so that the wall-climbing and hole-making robot 3 can transfer between adjacent crawling track lines.

[0030] The reversing guide rails 2 can switch between an engagement state and a transfer state; when the reversing guide rails 2 are switched to the engagement state, one end of the reversing guide rails 2 directly or indirectly docks with the end of the corresponding crawling track line, so that the wall-climbing and hole-making robot 3 can move from one of the docking crawling track line and the reversing guide rails 2 to the other; when the reversing guide rails 2 are switched to the transfer state, the adjacent ends of the adjacent reversing guide rails 2 can directly or indirectly dock with each other, so that the wall-climbing and hole-making robot 3 can move on the adjacent reversing guide rails 2.

[0031] In this embodiment, the wall-climbing hole-making robot 3 can perform mobile hole-making operations along the crawling track line, and the reversing guide rail 2 can achieve the transition of the wall-climbing hole-making robot 3 between different crawling track lines by switching positions. In this way, when the wall-climbing hole-making robot 3 changes track, the work of manually removing the wall-climbing hole-making robot 3 and realigning the wall-climbing hole-making robot 3 with the new track is omitted, which greatly simplifies the skin hole-making process.

[0032] Because there is no need for frequent manual intervention, the skin hole making operation becomes more continuous, which improves the efficiency of skin hole making. At the same time, the wall-climbing hole-making robot 3 can reliably slide from one end of the crawling track line to the other end, thereby ensuring the operating range of the wall-climbing hole-making robot 3 and improving the overall effect of skin hole making.

[0033] The crawling track line matches the shape of the skin. No matter how complex the shape of the skin is, the system can provide stable support and guidance to ensure that the wall-climbing hole-making robot 3 can move accurately on the skin.

[0034] The design of the reversing guide rail 2 enables the wall-climbing and hole-making robot 3 to easily switch between different crawling track lines, further enhancing the flexibility of the system. At the same time, the reversing guide rail 2 remains engaged in the initial stage to ensure that the wall-climbing and hole-making robot 3 moving along the crawling track line can always reliably move to the corresponding reversing guide rail 2, thereby improving the reliability of the system.

[0035] The wall-climbing hole-making robot 3 can perform continuous mobile hole-making operations along the crawling track line without frequent manual intervention, greatly improving the operation efficiency. The switching between the engagement state and the transfer state of the reversing guide rail 2 makes it unnecessary for the wall-climbing hole-making robot 3 to be manually removed and re-engaged when changing tracks, further ensuring the continuity of the operation.

[0036] Specifically, the system is not only suitable for hole making operations in the aerospace field such as aircraft skins, but can also be extended to other industries that require precise hole making on large-area, complex-shaped surfaces, such as automobile manufacturing, shipbuilding, etc.

[0037] In summary, this track-changeable large-area wall-climbing hole-making system for aircraft skin provides an efficient, continuous and reliable solution for skin hole-making operations, and is expected to be widely used and promoted in related fields.

[0038] When the reversing guide rail is supported at the same end of each crawling track, the wall-climbing hole-making robot 3 first moves along the first crawling track line when performing mobile hole-making, and then switches to the second crawling track line under the support of the reversing guide rail. After sliding to the end of the second crawling track line, the wall-climbing hole-making robot 3 moves to the head end of the second crawling track line, and then switches to the third crawling track line under the support of the reversing guide rail, just like Figure 3 and Figure 4 shown.

[0039] When the reversing guide rails are supported at both ends of each crawling track, the wall-climbing hole-making robot 3 can achieve serpentine movement under the support of the reversing guide rails, thereby completing the hole-making operation of the skin.

[0040] Embodiment 2:

[0041] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 In addition to all the technical solutions of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0042] Each set of crawling track lines includes a plurality of guide rail units 1 connected to the skin, and adjacent guide rail units 1 can be butted end to end to form a corresponding crawling track line.

[0043] In this embodiment, the crawling track line is a unit structure, which can ensure the convenience of assembling the crawling track line and can also flexibly change the overall length of the assembly track line.

[0044] The guide rail unit 1 can be manufactured and prepared separately, and each guide rail unit 1 is an independent unit structure, which is easy to manufacture, transport and install. Since the crawling track line adopts a unit structure, the guide rail unit 1 can be installed one by one or in groups, which greatly simplifies the assembly process. There is no need to install the entire long track at one time, which reduces the difficulty and time required for assembly.

[0045] The overall length of the crawling track line can be flexibly changed by increasing or decreasing the number of guide rail units 1. This enables the system to adapt to skins of different sizes and shapes, thereby improving the versatility and adaptability of the system.

[0046] If a certain rail unit 1 is damaged or requires maintenance, it can be easily removed and replaced without affecting the normal operation of other parts. This modular design reduces the cost and time of maintenance and replacement. As an independent unit, the rail unit 1 can be stored and transported more efficiently. When not in use or when the system needs to be moved, the rail unit 1 can be easily disassembled and reassembled, which improves convenience.

[0047] Specifically, the ends of the guide rail unit 1 may be provided with butt joints that engage with each other, and the butt joints are locked by bolts to ensure the stability of the guide rail unit 1 after the butt joint.

[0048] In this embodiment, one group of crawling track lines extend laterally to form a transverse track 100, and another group of crawling track lines extend vertically to form a longitudinal track 200; the guide rail unit 1 corresponding to the transverse track 100 and / or the longitudinal track 200 can be detachably connected to the skin so that one of the transverse track 100 and / or the longitudinal track 200 can make way for the other.

[0049] In this embodiment, the intersection of the transverse track 100 and the longitudinal track 200 allows the wall-climbing hole-making robot 3 to move more widely, thereby covering a wider area of ​​the skin, ensuring that the corresponding positions on the skin can be drilled by the wall-climbing hole-making robot 3, thereby ensuring the reliability of the hole-making operation.

[0050] The guide rail unit 1 corresponding to the transverse rail 100 and / or the longitudinal rail 200 can be detachably connected to the skin, which can ensure that the crawling track line supporting the wall-climbing hole-making robot 3 remains continuous when performing the hole-making operation, thereby ensuring the continuity and reliability of the hole-making operation of the wall-climbing hole-making robot 3.

[0051] For example, when the wall-climbing hole-making robot 3 moves along the transverse track 100 to make holes, at this time, all the guide rail units 1 of the transverse track 100 are installed, and the guide rail units 1 at the intersection of the longitudinal track 200 and the transverse track 100 can be removed, and all the guide rail guides of the longitudinal track 200 can also be removed to ensure the stability and continuity of the sliding of the wall-climbing hole-making robot 3;

[0052] When the hole-making operation on the skin corresponding to the transverse rail 100 is completed, the guide rail guide at the intersection of the transverse rail 100 and the longitudinal rail 200 is removed, or the guide rail guides of all the transverse rails 100 are removed, and the guide rail units 1 of all the longitudinal rails 200 are installed at the same time to make the corresponding crawling track line continuous, so as to ensure the sliding stability and continuity of the wall-climbing hole-making robot 3.

[0053] The reversing guide rail 2 is arranged at the same side end of the transverse rail 100 and the longitudinal rail 200 so that the reversing guide rail 2 is distributed in an L shape.

[0054] The L-shaped distribution of the reversing guide rail is conducive to achieving continuous hole-making operations, which will be described in detail in the subsequent embodiments.

[0055] Embodiment 3:

[0056] Reference Figure 1-Figure 4 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0057] The large-area wall-climbing hole-making system for aircraft skin with replaceable rails also includes a plurality of first intermediate guide rails 4, which are supported between adjacent reversing guide rails 2; when the reversing guide rails 2 are switched to the transfer state, the adjacent ends of the reversing guide rails 2 that are close to each other can be docked with the two ends of the first intermediate guide rails 4, so that the adjacent reversing guide rails 2 can be indirectly docked with each other.

[0058] The large-area wall-climbing hole-making system for aircraft skin with changeable rails also includes a plurality of second intermediate rails 5, which are supported between adjacent reversing rails 2 and rail units 1, and the two ends of the second intermediate rails 5 can be docked with the ends of the corresponding rail units 1 and the ends of the reversing rails 2 in the docking position, respectively;

[0059] The end faces of the reversing guide rail 2 and the first intermediate guide rail 4 that are in contact with each other, and the butt surfaces of the reversing guide rail 2 and the second intermediate guide rail 5 are all configured to be arc surfaces that match each other.

[0060] In this embodiment, when the reversing guide rail 2 is switched to the transfer state, the adjacent ends of the reversing guide rails 2 are no longer directly butted, but are indirectly butted through the first intermediate guide rail 4. When the reversing guide rail 2 is switched to the engagement state, the adjacent ends of the reversing guide rail 2 and the guide rail unit 1 are no longer directly butted, but are indirectly butted through the second intermediate guide rail 5.

[0061] The first intermediate guide rail 4 and the second intermediate guide rail 5 are a stable and fixed-position rail, so it is easier to ensure the smoothness of the docking surface, which is conducive to a smoother transition of the wall-climbing and hole-making robot 3, and reduces the instability of the wall-climbing and hole-making robot 3 caused by gaps or unevenness due to direct docking.

[0062] At the same time, the introduction of the first intermediate guide rail 4 and the second intermediate guide rail 5 provides additional support points for the system, which helps to maintain the stability and accuracy of the reversing guide rail 2.

[0063] The arc-shaped docking surface can ensure the tightness of the connection between the reversing guide rail 2 and the guide rail unit 1 and the first intermediate guide rail 4, as well as the reversing guide rail 2 and the second intermediate guide rail 5, while ensuring that the reversing guide rail 2 does not interfere with the guide rail unit 1 and the corresponding first intermediate guide rail 4 and second intermediate guide rail 5 when switching positions, thereby ensuring the stability of the reversing guide rail 2.

[0064] Embodiment 4:

[0065] Reference Figure 1 and Figure 2 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0066] The large-area wall-climbing hole-making system for aircraft skin with changeable tracks also includes a support frame 6 and a skin support portion 7 and an edge support portion 8 supported on the support frame 6; the edge support portion 8 is located at the edge of the skin support portion 7 and matches the shape of the skin support portion 7, and the edge support portion 8 is used to support the reversing guide rail 2 and / or the first intermediate guide rail 4; the edge support portion 8 includes a plurality of support units, and the support units are all detachably connected to the support frame 6; the edge support portion 8 is distributed in an L shape, so that the reversing guide rail 2 is also distributed in an L shape.

[0067] In this embodiment, the support frame 6 is the support base of the entire system, which provides sufficient strength and stability to support the skin support portion 7 and the edge support portion 8, and ensures stability and safety during the entire hole making operation. The height of the support legs of the support frame 6 corresponding to the positions of the skin support portion 7 and the edge support portion 8 is adjustable, so that the support frame 6 can match skins with different curvatures.

[0068] The skin support part 7 is used to support the skin and prevent it from being deformed or moved during the hole making process. Its shape and size need to match the shape and size of the skin to ensure the supporting effect.

[0069] The edge support portion 8 is located at the edge of the skin support portion 7, and is used to support the reversing guide rail 2 and / or the first intermediate guide rail 4. The edge support portion 8 is L-shaped, which not only enhances the support strength, but also enables the reversing guide rail 2 to be L-shaped, thereby expanding the scope and flexibility of the hole making operation.

[0070] The support units are all detachably connected to the support frame 6, and the edge support portion 8 can be flexibly adjusted according to the shape and size of the skin, which is also convenient for maintenance and replacement.

[0071] Embodiment 5:

[0072] Reference Figure 1-Figure 5 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0073] The large-area wall-climbing hole-making system for aircraft skin with replaceable tracks also includes a driving device 9 supported on the edge support portion 8, and the output end of the driving device 9 is connected to the reversing guide rail 2; the driving device 9 includes a rotating driving member 91, a base 92, a bearing inner ring 93, a bearing outer ring 94 and a top plate 95; the rotating driving member 91 is supported on the base 92; the bearing inner ring 93 and the bearing outer ring 94 are nested with each other and are rotationally connected along the rotation axis of the output end of the rotating driving member 91; one of the bearing inner ring 93 and the bearing outer ring 94 is supported on the base 92, and the other of the bearing inner ring 93 and the bearing outer ring 94 is connected to the top plate 95; the top plate 95 is connected to the reversing guide rail 2; the output end of the rotating driving member 91 is connected to the reversing guide rail 2 or the top plate 95.

[0074] In this embodiment, the driving device 9 is used to drive the switching position of the reversing guide rail 2, so as to ensure that the wall-climbing and hole-making robot 3 can smoothly transition between different crawling track lines and complete the hole-making operation.

[0075] When the state of the reversing guide rail 2 needs to be switched, the rotating driving member 91 starts to work, and drives the top plate 95 or the reversing guide rail 2 to move through the rotational movement of its output end. During the movement, the matching relationship between the bearing inner ring 93 and the bearing outer ring 94 ensures the smoothness and accuracy of the rotation, thereby achieving accurate switching of the reversing guide rail 2.

[0076] The rotary drive member 91 may be configured as a servo motor to cooperate with a control system to achieve precise control.

[0077] Embodiment 6:

[0078] Reference Figure 1-Figure 5 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0079] The large-area wall-climbing and hole-making system for aircraft skin with replaceable tracks also includes a controller, which is control-connected to the rotating drive member 91; the large-area wall-climbing and hole-making system for aircraft skin with replaceable tracks also includes an identification unit and a tag 10, the identification unit is arranged on the wall-climbing and hole-making robot 3, the tag 10 is arranged on the reversing guide rail 2, and the identification unit is control-connected to the controller; when the identification unit identifies the tag 10, the controller can control the rotating drive member 91 to operate so that the corresponding reversing guide rail 2 completes the position switching.

[0080] The controller, identification unit and label 10 in the large-area wall-climbing hole-making system for aircraft skin with switchable rails together constitute an intelligent control system, which is used to control the position switching of the switching guide rail 2, thereby improving the intelligence of the system, providing a hardware foundation for the unmanned operation of the system, and thus improving the hole-making efficiency of the system.

[0081] The controller is connected to the rotary drive member 91, responsible for receiving the signal from the identification unit, and controlling the operation of the rotary drive member 91 according to a preset program or algorithm. By controlling the rotational movement of the rotary drive member 91, the controller can achieve precise control of the position switching of the reversing guide rail 2.

[0082] It is arranged on the wall-climbing hole-making robot 3 and is used to detect the information of the tag 10. The identification unit can adopt various sensor technologies, such as RFID, two-dimensional code recognition, image recognition, etc., to realize accurate recognition of the tag 10.

[0083] The tag 10 is arranged on the reversing guide 2 to provide position information to the identification unit. The tag 10 can be an RFID tag 10, a QR code tag 10 or other forms of identifiable marks, which are fixed at a specific position of the reversing guide 2, such as fixed at the middle position of the reversing guide 2.

[0084] When the wall-climbing hole-making robot 3 moves on the crawling track line, the recognition unit on it will continuously scan the tags 10 in the surrounding environment. Once the recognition unit recognizes the preset tag 10 information, it means that the wall-climbing hole-making robot 3 has moved to the first reversing guide rail 2. After the controller receives the signal sent by the recognition unit, the controller will control the rotation drive member 91 to operate, so that the corresponding two reversing guide rails 2 are switched to the transfer state;

[0085] As the wall-climbing and hole-making robot 3 continues to move, the identification device will identify the label 10 on the second reversing guide rail 2, which means that the wall-climbing and hole-making robot 3 has moved to the second reversing guide rail 2. At this time, the controller controls the reversing guide rail 2 to switch to the engaged state so that the wall-climbing and hole-making robot 3 can continue to move to the next crawling track line.

[0086] Embodiment 7:

[0087] Reference Figure 1 , Figure 6-Figure 8 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0088] The wall-climbing hole-making robot 3 includes a posture adjustment mechanism 31, a spindle feeding and processing mechanism 32 and a walking mechanism 33. The walking mechanism 33 and the spindle processing mechanism are both supported on the posture adjustment mechanism 31. The posture adjustment mechanism 31 can adjust the freedom of movement and rotation of the spindle feeding and processing mechanism 32 along the X direction and the Y direction, and the spindle feeding and processing mechanism 32 has the freedom of movement along the Z direction.

[0089] The posture adjustment mechanism 31 includes a first slide 311, a second slide 312, a first swing frame 313 and a second swing frame 314. The main body of the second slide 312 is supported on the moving part of the first slide 311, the main body of the first swing frame 313 is supported on the moving part of the second slide 312, and the main body of the second swing frame 314 is supported on the swing part of the first swing frame 313.

[0090] The first slide 311 and the second slide 312 can move in the X direction and the Y direction respectively, and the first swing frame 313 and the second swing frame 314 can rotate in the X direction and the Y direction respectively;

[0091] The first swing frame 313 includes a first motor 3131 and a first frame 3132 that are mutually drivingly connected, and the second swing frame 314 includes a second motor 3141 and a second frame 3142 that are mutually drivingly connected;

[0092] The first frame 3132 is rotatably supported on the moving part of the second slide 312 along the X-axis, the second frame 3142 is rotatably supported on the first frame 3132 along the Y-axis, and the first motor 3131 and the second motor 3141 are both supported on the first frame 3132;

[0093] The spindle feeding processing mechanism 32 includes a third slide 321 and a hole-making drill 322. The hole-making drill 322 is supported on the sliding part of the third slide 321. The body of the third slide 321 is supported on the second frame 3142. The third slide 321 can drive the hole-making drill 322 to move along the Z direction.

[0094] The first frame 3132 and the second frame 3142 are nested with each other, and the hole-making drill 322 can extend from the opening of the second frame 3142 toward the skin.

[0095] The walking mechanism 33 includes a V-shaped wheel 331, a walking wheel and a third motor. The V-shaped wheel 331 and the walking wheel are both arranged on the body of the first slide 311, and the third motor is drivingly connected to the walking wheel.

[0096] There are multiple V-shaped wheels 331, and a clamping area matching the width of the crawling track line and the reversing guide rail 2 is formed between adjacent V-shaped wheels 331. The rotation axis of the V-shaped wheel 331 is parallel to the thickness direction of the crawling track line.

[0097] The running wheels can be in frictional contact with the surface of the crawling track line and the reversing guide rail 2, so that when the running wheels rotate, the wall-climbing and hole-making robot 3 is driven to move as a whole.

[0098] In this embodiment, the wall-climbing hole-making robot 3 combines a posture adjustment mechanism 31, a spindle feeding mechanism 32 and a walking mechanism 33, and can perform precise hole-making operations on complex skin surfaces, thereby ensuring the matching degree of the wall-climbing hole-making robot 3 to the skin shape.

[0099] The posture adjustment mechanism 31 is responsible for adjusting the position and posture of the spindle feeding processing mechanism 32 in three-dimensional space. The first slide 311 and the second slide 312 can move in the X direction and the Y direction respectively, providing the entire posture adjustment mechanism 31 with a degree of freedom of movement in a two-dimensional plane, so that the wall-climbing hole-making robot 3 can move flexibly on the horizontal plane to meet the hole-making requirements at different positions.

[0100] The first swing frame 313 and the second swing frame 314 can rotate in the X direction and the Y direction respectively, providing the wall-climbing hole-making robot 3 with additional rotational freedom. This rotation capability enables the spindle feeding processing mechanism 32 to flexibly adjust its posture in three-dimensional space, ensuring that the hole-making drill 322 can be accurately aligned with the target position. In this way, even if the skin has curvature, the angle of the spindle feeding processing mechanism 32 can be adjusted by the first swing frame 313 and the second swing frame 314 to match the curvature of the skin, thereby ensuring the adaptability of the wall-climbing hole-making robot 3 to the skin.

[0101] The first frame 3132 and the second frame 3142 are nested with each other to improve the structural compactness of the wall-climbing hole-making robot 3. By supporting the spindle feeding processing mechanism 32 on the second frame 3142 and the drill bit of the spindle feeding processing mechanism 32 can extend from the opening position of the second frame 3142 to the skin, the structural compactness of the wall-climbing hole-making robot 3 can be further improved.

[0102] The third slide 321 can drive the hole-making drill 322 to move along the Z direction, ensuring that the drill can penetrate into the skin to make holes. The hole-making drill 322 is installed on the sliding part of the third slide 321 and is the component that actually performs the hole-making operation.

[0103] The walking mechanism 33 includes a V-shaped wheel 331 and a walking wheel. The clamping area enables the wall-climbing hole-making robot 3 to be firmly clamped on the track to prevent sliding or falling off during the hole-making process. The rotation axis of the V-shaped wheel 331 is parallel to the thickness direction of the crawling track line to ensure that the wall-climbing hole-making robot 3 can move smoothly along the track.

[0104] The walking wheels are in frictional contact with the surface of the crawling track line and the reversing guide 2. When the walking wheels rotate, they can drive the entire wall-climbing and hole-making robot 3 to move as a whole. Specifically, the walking wheels can be set as synchronous wheels, and the corresponding crawling track lines and the surface of the reversing guide 2 are set with synchronous tracks that match the synchronous wheels to improve the stability of the wall-climbing and hole-making robot 3 during movement and avoid slipping of the walking wheels.

[0105] The first motor 3131 , the second motor 3141 and the third motor may all be configured as servo motors to cooperate with the control system to achieve precise control.

[0106] The first slide 311, the second slide 312 and the third slide 321 can be configured as a screw slide, or as a rotary belt slide. Specifically, the first slide 311 and the second slide 312 are configured as a rotary belt slide, and the third slide 321 is configured as a screw slide.

[0107] Embodiment 8:

[0108] Reference Figure 1-Figure 4In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0109] A clearance hole is provided on the guide rail unit 1, and the drill bit of the hole-making drill 322 can pass through the clearance hole to perform the hole-making operation to ensure the perpendicularity of the drill bit and the skin section, that is, to ensure that the drilling direction of the drill bit is the normal direction of the skin, thereby ensuring the drilling accuracy.

[0110] Embodiment 9:

[0111] Reference Figure 1-Figure 4 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present invention further have the following technical solutions:

[0112] The wall-climbing hole-making robots 3 are arranged in a plurality and can work simultaneously, thereby being able to multiply the hole-making efficiency of the hole-making system.

[0113] Embodiment 10:

[0114] Figure 1-Figure 4 In addition to providing a method for making holes by climbing a wall on a skin, the embodiment of the present invention includes a track-changeable large-area wall-climbing hole-making system for aircraft skin according to any one of the above embodiments 1-9. The hole-making method includes:

[0115] S1: Make the wall-climbing hole-making robot 3 slide along one end of a crawling track line to the other end and complete the hole-making of the skin at the corresponding position;

[0116] S2: Make the reversing guide rail 2 at the downstream end of the corresponding crawling track line so that the wall-climbing hole-making robot 3 can transfer between adjacent crawling track lines;

[0117] S3, making the wall-climbing hole-making robot 3 slide along one end of the next crawling track line to the other end and complete the hole-making of the skin at the corresponding position;

[0118] S4. Repeat S2-S3 until the hole making of the skin is completed.

[0119] The above-mentioned hole making method can realize continuous hole making operation of the skin, thereby improving the efficiency of the skin hole making.

[0120] When applied to any one of Examples 3-9, the hole making method is specifically as follows:

[0121] Sa1: Make the wall-climbing hole-making robot 3 slide along one end of a longitudinal track 200 to the other end and complete the hole-making of the skin at the corresponding position;

[0122] Sa2: Switch the reversing guide rail 2 at the downstream end of the corresponding crawling track line to the engaged state, and make the wall-climbing hole-making robot 3 slide from the corresponding crawling track line to the corresponding reversing guide rail 2 in the engaged state;

[0123] Sa3: Switch the reversing guide rail 2 supporting the wall-climbing hole-making robot 3 and the downstream reversing guide rail 2 adjacent to the reversing guide rail 2 to a transfer state, and slide the wall-climbing hole-making robot 3 onto the downstream reversing guide rail 2;

[0124] Sa4: When the wall-climbing hole-making robot 3 moves to the reversing guide rail close to the downstream longitudinal track 200, the corresponding reversing guide rail 2 is switched to the engagement state, and the wall-climbing hole-making robot 3 slides to the downstream longitudinal track 200;

[0125] Sa5, making the wall-climbing hole-making robot 3 slide along one end of the corresponding longitudinal track 200 to the other end, and complete the hole-making of the skin at the corresponding position;

[0126] When the reversing guide rail 2 is supported on the same side end of the creeping track line, the hole making method further includes:

[0127] Sa6: Reset the wall-climbing hole-making robot 3 along one end of the corresponding longitudinal track 200 to the other end;

[0128] Sa7: Repeat Sa2-Sa6 until the skin holes corresponding to all longitudinal tracks 200 are completed;

[0129] Sa8: After the transverse rail 100 is set, the corresponding reversing guide rail is switched to a joint state to receive the wall-climbing drilling robot 3 from the longitudinal rail 200;

[0130] Sa9: Switch the reversing guide rail 2 supporting the wall-climbing hole-making robot 3 and the downstream reversing guide rail 2 adjacent to the reversing guide rail 2 to the transfer state, and slide the wall-climbing hole-making robot 3 onto the downstream reversing guide rail 2, while controlling the wall-climbing hole-making robot 3 to slide downstream along the reversing guide rail;

[0131] Sa10: When the wall-climbing hole-making robot 3 moves to a reversing guide rail close to a transverse track 100, the corresponding reversing guide rail 2 is switched to an engaged state, and the wall-climbing hole-making robot 3 slides to the corresponding longitudinal track 200;

[0132] Sa11: Make the wall-climbing hole-making robot 3 slide along one end of the corresponding transverse track 100 to the other end, and complete the hole-making of the skin at the corresponding position;

[0133] Sa12: Reset the wall-climbing hole-making robot 3 along one end of the corresponding transverse track 100 to the other end;

[0134] Sa13: Switch the reversing guide rail close to the corresponding transverse rail 100 to the engaged state, and move the wall-climbing hole-making robot 3 to the corresponding reversing guide rail;

[0135] Sa14: Repeat Sa9-Sa11.

[0136] This embodiment is intended to illustrate the crawling track line continuous hole making method in Example 3.

[0137] Sa2, Sa3, Sa4, Sa8, Sa9, Sa10 also include:

[0138] Based on the recognition of the corresponding tag 10 by the recognition unit, the corresponding reversing guide 2 is switched in position.

[0139] The following is a detailed analysis of the method steps:

[0140] Sa1: The wall-climbing drilling robot 3 slides along the longitudinal track 200 and drills holes

[0141] First, the wall-climbing hole-making robot 3 starts to slide from one end of the longitudinal track 200, moves along the longitudinal track 200 to the other end, and completes the hole-making operation of the skin at the corresponding position in the process.

[0142] Sa2: The reversing guide rail 2 is switched to the engaged state and the wall-climbing drilling robot 3 is transferred to the reversing guide rail 2

[0143] When the wall-climbing hole-making robot 3 completes the hole-making operation on the current longitudinal track 200, the corresponding reversing guide rail 2, that is, the downstream reversing guide rail 2 at the end of the longitudinal track 200, will switch to the engaged state. Subsequently, the wall-climbing hole-making robot 3 slides from the longitudinal track 200 to the reversing guide rail 2 in the engaged state.

[0144] Sa3: The reversing guide rail 2 is switched to the transfer state and the wall-climbing drilling robot 3 is transferred to the downstream reversing guide rail 2

[0145] The reversing guide rail 2 supporting the wall-climbing hole-making robot 3 and the reversing guide rail 2 adjacent to it in the downstream will switch to the transfer state. Then, the wall-climbing hole-making robot 3 slides from the current reversing guide rail 2 to the next reversing guide rail 2.

[0146] When the identification unit needs to identify the label 10 on the upstream reversing guide 2 of the two adjacent reversing guides 2, it means that the reversing guide 2 has stably supported the wall-climbing and hole-making robot 3. At this time, the switching action of the two reversing guides 2 is triggered, and the two reversing guides 2 are controlled to switch to the transfer state, so that the wall-climbing and hole-making robot 3 can move to the downstream reversing guide 2.

[0147] Sa4: the reversing guide rail 2 is switched to the engaged state and transferred to the downstream longitudinal rail 200;

[0148] When the wall-climbing hole-making robot 3 reaches the downstream reversing guide rail 2, the reversing guide rail 2 switches to the engaged state. Subsequently, the wall-climbing hole-making robot 3 slides from the reversing guide rail 2 to the downstream longitudinal track 200 to prepare for the next round of hole-making operation.

[0149] When the identification unit identifies the label 10 of the downstream reversing guide rail 2 , the switching action of the reversing guide rail 2 is triggered, and the reversing guide rail 2 is controlled to switch to the engaged state, so that the wall-climbing hole-making robot 3 can move to the next reversing guide rail 2 .

[0150] Sa5: The wall-climbing hole-making robot 3 slides along the next longitudinal track 200 and makes holes;

[0151] This step is the process of making holes in the skin at the second longitudinal track 200. The wall-climbing hole-making robot 3 starts to slide from one end of the longitudinal track 200, moves along the longitudinal track 200 to the other end, and completes the hole-making operation of the skin at the corresponding position in the process.

[0152] Sa6: Make the wall-climbing and drilling robot 3 slide along one end of the corresponding longitudinal track 200 to the other end.

[0153] This step is the resetting process of the wall-climbing and hole-making robot 3. Since the reversing guide rail is only set on one side of the longitudinal rail 200, only this side can realize the transfer of the wall-climbing and hole-making robot 3, so that the wall-climbing and hole-making robot 3 slides from one end to the other end along the corresponding crawling track line, so that the wall-climbing and hole-making robot 3 is ready to be transferred to the third crawling track line by the next set of reversing guide rails.

[0154] Sa7: Repeat Sa2-Sa6 to complete the hole making operation of the 200-position skin of all longitudinal rails.

[0155] After the skin holes at the longitudinal track 200 are completed, the skin holes at the transverse track 100 can be randomly made as follows:

[0156] Sa8: A transverse track 100 is set. At this time, the track unit that interferes with the longitudinal track 200 and the transverse track 100 needs to be removed. At the same time, after the skin hole making operation at the longitudinal track 200 is completed, the wall-climbing hole-making robot 3 is supported on the tail end of the longitudinal track 200. At this time, the corresponding reversing guide rail is controlled to switch to the engaged state to receive the wall-climbing hole-making robot 3 from the longitudinal track 200.

[0157] Sa9: Two adjacent reversing guide rails form a group, and one group of reversing guide rails is switched to the transfer state so that the wall-climbing hole-making robot 3 can run to the next reversing guide rail in the group of reversing guide rails; when this step is transferred, if there are multiple groups of reversing guide rails, the wall-climbing hole-making robot 3 moves continuously on the reversing guide rails until it moves to the reversing guide rail close to the transverse track 100;

[0158] During this process, when the recognition unit recognizes the tag 10, it means that the wall-climbing hole-making robot 3 has moved to the corresponding switching guide rail. Each tag 10 represents a switching guide rail. In this way, the controller can control the switching guide rail to perform the required state switching according to the difference in the tags 10 recognized by the recognition unit.

[0159] Sa10: This step is the hole making process of the skin corresponding to the first transverse track 100. The wall-climbing hole-making robot 3 moves on the transfer track to the first transverse track 100 to complete the hole making.

[0160] Sa11: This step is the resetting process of the wall-climbing hole-making robot 3 on the first transverse track 100. After the hole-making is completed, the wall-climbing hole-making robot 3 is reset to the head end position of the first transverse track 100;

[0161] Sa12: The wall-climbing and hole-making robot 3 moves onto the reversing guide rail again;

[0162] Sa13: Repeat Sa9-Sa12 to complete the hole making operation of the skin at all 100 positions of the transverse rails.

[0163] During the entire hole-making process, the stability and reliability of the system need to be ensured. At the same time, the working state and hole-making quality of the wall-climbing hole-making robot 3 need to be closely monitored so as to adjust and optimize the hole-making parameters in a timely manner.

[0164] Specifically, Figure 3 and Figure 4 The moving track of the wall-climbing hole-making robot 3 in the above-mentioned hole-making method is shown.

[0165] in, Figure 3 In the process, the wall-climbing hole-making robot 3 first performs hole-making operation on the skin corresponding to the longitudinal track 200. According to the above-mentioned hole-making method, the moving route of the wall-climbing hole-making robot 3 is ABCDCEFE;

[0166] After the hole making operation of the skin corresponding to the longitudinal track 200 is completed, refer to Figure 4 The wall-climbing hole-making robot 3 can be temporarily supported on the second middle guide rail 5 at E. After the transverse track 100 is arranged, the hole-making operation is performed on the skin corresponding to the transverse track 100. Similarly, according to the above method, the moving route of the wall-climbing hole-making robot 3 is EGHIHGKGLM.

[0167] It can be understood that, except for any conflicting parts, the above-mentioned embodiments 1-9 can be freely combined to form other implementation modes of the present invention.

[0168] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0169] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0170] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0171] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0172] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A track-changeable aircraft skin large-area wall-climbing hole-making system, characterized in that: It comprises a crawling track line, a reversing guide rail (2) and a wall-climbing hole-making robot (3); The crawling track lines are supported on the side of the skin where the holes are to be made, and the crawling track lines are arranged in one or two groups matching the shape of the skin, and the crawling track lines in the same group all extend in one direction and are arranged as a plurality of parallel lines; The reversing guide rails (2) are multiple and are correspondingly supported at one end or both ends of the same side of the crawling track line, so that the wall-climbing hole-making robot (3) can transfer between adjacent crawling track lines.

2. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 1, characterized in that: The reversing guide rails (2) are capable of switching between an engagement state and a transfer state; when the reversing guide rails (2) are switched to the engagement state, one end of the reversing guide rail (2) is docked with the end of the corresponding crawling track line; when the reversing guide rails (2) are switched to the transfer state, the adjacent ends of the adjacent reversing guide rails (2) are capable of docking with each other.

3. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 2, characterized in that: Each group of the crawling track lines comprises a plurality of guide rail units (1) connected to the skin, and adjacent guide rail units (1) can be butted end to end to form corresponding crawling track lines; one group of the crawling track lines extends transversely to form a transverse track (100), and another group of the crawling track lines extends vertically to form a longitudinal track (200); the guide rail units (1) corresponding to the transverse track (100) and / or the longitudinal track (200) are detachably connected to the skin.

4. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 3, characterized in that: The reversing guide rail (2) is arranged at the same side end of the transverse rail (100) and the longitudinal rail (200), so that the reversing guide rail (2) is distributed in an L shape.

5. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 4, characterized in that: The system further comprises a plurality of first intermediate guide rails (4), wherein the first intermediate guide rails (4) are supported between adjacent reversing guide rails (2); when the reversing guide rails (2) are switched to the transfer state, the two ends of the first intermediate guide rail (4) can dock with the reversing guide rails (2) on both sides of the first intermediate guide rail (4); the wall-climbing hole-making system further comprises a plurality of second intermediate guide rails (5), wherein the second intermediate guide rails (5) are supported between adjacent reversing guide rails (2) and the guide rail unit (1), and the two ends of the second intermediate guide rails (5) can dock with the ends of the corresponding guide rail unit (1) and the ends of the reversing guide rail (2) in the docking position, respectively.

6. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 5, characterized in that: It also includes a support frame (6), a skin support portion (7) supported on the support frame (6), and an edge support portion (8); the edge support portion (8) is located at the edge of the skin support portion (7) and matches the shape of the skin support portion (7), and the edge support portion (8) is used to support the reversing guide rail (2) and / or the first intermediate guide rail (4); the edge support portion (8) includes a plurality of support units, and the support units are all detachably connected to the support frame (6); the edge support portion (8) is distributed in an L shape, so that the reversing guide rail (2) is also distributed in an L shape.

7. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 6, characterized in that: It also comprises a driving device (9) supported on the edge supporting portion (8), wherein an output end of the driving device (9) is connected to the reversing guide rail (2).

8. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 7, characterized in that: The large-area wall-climbing hole-making system for aircraft skin with a changeable track also includes a controller. The large-area wall-climbing hole-making system for aircraft skin with a changeable track also includes an identification unit and a label (10). The identification unit is arranged on the wall-climbing hole-making robot (3), and the label (10) is arranged on the reversing guide rail (2). The identification unit, the driving device (9) and the controller are connected to each other. When the identification unit identifies the tag (10), the controller can control the driving device (9) to operate so that the corresponding reversing guide rail (2) completes position switching.

9. The track-changeable aircraft skin large-area wall-climbing hole-making system according to any one of claims 1 to 8, characterized in that: The wall-climbing hole-making robots (3) are arranged in plurality and can work simultaneously.

10. A method for making holes by climbing a skin wall, characterized in that: The large-area wall-climbing hole-making system for aircraft skin with a changeable track as described in any one of claims 1 to 9, wherein the hole-making method comprises: S1: causing the wall-climbing hole-making robot (3) to slide along one end of a crawling track line to the other end and complete hole-making of the skin at a corresponding position; S2: enabling the reversing guide rail (2) corresponding to the downstream end of the crawling track line to enable the wall-climbing hole-making robot (3) to transfer between adjacent crawling track lines; S3, making the wall-climbing hole-making robot (3) slide along one end of the next crawling track line to the other end and complete the hole-making of the skin at the corresponding position; S4, repeat S2-S3 until the hole making work of the skin is completed.

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