Aircraft skin large-area wall-climbing hole-making system and hole-making method with replaceable track

Abstract

The present application relates to the technical field of skin hole making, in particular to a large-area wall-climbing hole making system and method for aircraft skin, which comprises a crawling track line, a reversing guide rail and a wall-climbing hole making robot; the crawling track line is supported on the side of the skin to be made, and the reversing guide rail is multiple and supported on the same side of one end or both ends of the crawling track line, which has the beneficial effect that the reversing guide rail can realize the transition of the wall-climbing hole making robot between different crawling track lines by position switching, and the mutual penetration between the guide rails realizes large-area hole making of the wall-climbing robot on the guide rail net. When the wall-climbing hole making robot makes large-area holes on the aircraft skin, the work of manually taking down the wall-climbing hole making robot and recombining the wall-climbing hole making robot with the new track is omitted, which greatly simplifies the skin hole making process and guarantees the continuity and full coverage of the processing.

Description

Technical Field

[0001] The present invention relates to the technical field of skin hole making, and in particular to a track-changeable large-area wall-climbing hole making system and a hole making method for aircraft skin. 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 confined spaces. Existing dedicated machine tools are bulky, costly, 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, limiting their operating efficiency and quality.

[0003] To address these issues, wall-climbing hole-making robots can be used to perform high-speed and efficient hole-making tasks on complex, continuous curved surfaces. However, because wall-climbing hole-making robots use rigid guide rails to move across the skin surface and cannot change tracks, they cannot drill holes between different guide rails. Frequent manual intervention is required, which limits the continuity of the hole-making operation and the operating range of the wall-climbing hole-making robots, restricting their efficiency in practical applications. Summary of the Invention

[0004] (1) Technical issues to be solved

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

[0006] (2) Technical solution

[0007] In order to achieve the above objectives, 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 into 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 in 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 line, 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 method for making holes in a skin by climbing a wall, which is applied to the large-area wall-climbing hole-making system for aircraft skin with a changeable track in the above technical solution. The hole-making method comprises:

[0010] S1: Make the wall-climbing and 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 turn 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] (3) 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 re-matching 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's no need for frequent human intervention, the skin drilling process becomes more continuous, improving efficiency. This also allows the wall-climbing robot to reliably slide from one end of the track to the other, thereby ensuring its operating range and improving the overall effectiveness of the skin drilling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the large-area wall-climbing hole-making system for aircraft skin with interchangeable tracks according to the present invention;

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

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

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

[0021] Figure 5 Schematic diagram of the structure of the driving device of the present invention;

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

[0023] Figure 7 Schematic diagram of the structure 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. Transverse rail; 200. Longitudinal rail; 2. Reversing guide rail; 3. Wall-climbing and drilling 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 mechanism; 321. Third slide; 322. Drilling tool; 33. Traveling mechanism; 331. V-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 and facilitate understanding, the following Figures 1-8 , the present invention is described in detail through specific implementation methods.

[0028] Example 1:

[0029] Reference Figures 1-8 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 lines are arranged into 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 in multiple lines; there are multiple reversing guide rails 2 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 3 can transfer between adjacent crawling track lines.

[0030] The reversing guide rails 2 can switch between the engaged state and the transfer state; when the reversing guide rails 2 are switched to the engaged state, one end of the reversing guide rail 2 is directly or indirectly docked 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 docked crawling track line and the reversing guide rail 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 be directly or indirectly docked 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 realize 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's no need for frequent human intervention, the skin drilling process becomes more continuous, improving efficiency. This also allows the wall-climbing drilling robot 3 to reliably slide from one end of the crawling track to the other, thereby ensuring the robot's operating range and improving the overall effectiveness of the skin drilling process.

[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 drilling robot 3 can continuously perform mobile drilling operations along its crawling track, eliminating the need for frequent manual intervention and significantly improving operational efficiency. The reversing guide rail 2 switches between its engaged and transfer states, eliminating the need for manual removal and realignment when changing tracks, further ensuring operational continuity.

[0036] Specifically, the system is not only suitable for hole-making operations in aerospace fields 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 and shipbuilding.

[0037] In summary, this track-changeable large-area wall-climbing hole-making system for aircraft skins 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 drilling, and then switches to the second crawling track line under the support of the reversing guide rail. When it slides 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 move in a serpentine manner under the support of the reversing guide rails, thereby completing the hole-making operation of the skin.

[0040] Example 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 include 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 units 1 can be manufactured and prepared individually, each serving as a self-contained unit structure for ease of manufacture, transportation, and installation. Because the crawler track line utilizes a unit structure, the guide rail units 1 can be installed individually or in groups, greatly simplifying the assembly process. This eliminates the need to install the entire long track at once, reducing assembly difficulty and time.

[0045] The overall length of the crawling track 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, improving the versatility and adaptability of the system.

[0046] If a rail unit 1 becomes 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 independent units, the rail units 1 can be stored and transported more efficiently. When not in use or when the system needs to be moved, the rail units 1 can be easily disassembled and reassembled, improving convenience.

[0047] Specifically, the end of the guide rail unit 1 can be provided with a docking surface for engaging with each other, and the docking surfaces are locked by bolts to ensure the stability of the guide rail unit 1 after docking.

[0048] In the embodiment, one set of the crawling track lines extends laterally to form the lateral track 100, and another set of the crawling track lines extends vertically to form the longitudinal track 200; the guide rail unit 1 corresponding to the lateral track 100 and / or the longitudinal track 200 can be detachably connected to the skin, so that one of the lateral track 100 and / or the longitudinal track 200 can give way to the other.

[0049] In the embodiment, the lateral track 100 and the longitudinal track 200 intersect with each other, so that the wall-climbing hole-making robot 3 can 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 lateral track 100 and / or the longitudinal track 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 the hole-making operation is performed, 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 lateral track 100 to drill holes, at this time, the guide rail unit 1 of the lateral track 100 is installed, and the guide rail unit 1 at the intersection position of the longitudinal track 200 and the lateral track 100 can be removed, or all the guide rail units of the longitudinal track 200 can 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 lateral track 100 is completed, the guide rail unit at the intersection position of the lateral track 100 and the longitudinal track 200 is removed, or all the guide rail units of the lateral track 100 are removed, and all the guide rail units of the longitudinal track 200 are installed to ensure the continuity of the corresponding crawling track line, thereby ensuring the stability and continuity of the sliding of the wall-climbing hole-making robot 3.

[0053] The reversing guide rail 2 is arranged at the same side end of the lateral track 100 and the longitudinal track 200, so that the reversing guide rail 2 is in L-shaped distribution.

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

[0055] Embodiment 3:

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

[0057] The large-area wall-climbing hole-making system for aircraft skin with changeable rails also includes multiple 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 reversible rails also includes a plurality of second intermediate guide rails 5, which are supported between adjacent reversing guide rails 2 and guide rail units 1, and whose ends can respectively dock with the ends of the corresponding guide rail units 1 and the ends of the reversing guide rails 2 in the docking position;

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

[0060] In this embodiment, when the reversing guide rails 2 are switched to the transfer state, the adjacent ends of the reversing guide rails 2 no longer directly butt against each other, but are indirectly butt against each other via the first intermediate guide rail 4. When the reversing guide rails 2 are switched to the engagement state, the adjacent ends of the reversing guide rails 2 and the guide rail unit 1 no longer directly butt against each other, but are indirectly butt against each other via 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 making the wall-climbing and hole-making robot 3 transition more smoothly, and reducing 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] Example 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 include the following technical solutions:

[0066] The large-area wall-climbing hole-making system for aircraft skin with changeable rails 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, support frame 6 serves as the foundation for the entire system, providing sufficient strength and stability to support the skin support portion 7 and edge support portion 8, ensuring stability and safety throughout the entire hole-making process. The support legs of support frame 6, corresponding to the positions supporting skin support portion 7 and edge support portion 8, are height-adjustable, allowing support frame 6 to accommodate skins of varying curvatures.

[0068] The skin support portion 7 is used to support the skin and prevent it from deformation or movement 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] Example 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 include 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 rotatably 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, thereby ensuring that the wall-climbing and drilling robot 3 can smoothly transition between different crawling track lines and complete the drilling operation.

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

[0076] The rotation driving member 91 can be configured as a servo motor to cooperate with a control system to achieve precise control.

[0077] Example 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 include the following technical solutions:

[0079] The large-area wall-climbing and hole-making system for aircraft skins with changeable tracks also includes a controller, which is controlled and connected to the rotating drive member 91; the large-area wall-climbing and hole-making system for aircraft skins with changeable tracks also includes an identification unit and a label 10, the identification unit is arranged on the wall-climbing and hole-making robot 3, the label 10 is arranged on the reversing guide rail 2, and the identification unit is controlled and connected to the controller; when the identification unit recognizes the label 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 changeable rails together constitute an intelligent control system, which is used to control the position switching of the reversing 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 and is 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 motion 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 installed on the wall-climbing drilling robot 3 and is used to detect the information of the tag 10. The recognition unit can use various sensor technologies, such as RFID (radio frequency identification), QR code recognition, image recognition, etc., to achieve accurate recognition of the tag 10.

[0083] The tag 10 is provided 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 markers, which are fixed to a specific position of the reversing guide 2, such as 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 recognize 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] Example 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 include 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 and Y directions, 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 portion of the first slide 311, the main body of the first swing frame 313 is supported on the moving portion of the second slide 312, and the main body of the second swing frame 314 is supported on the swing portion 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 comprises a first motor 3131 and a first frame 3132 which are drivingly connected to each other, and the second swing frame 314 comprises a second motor 3141 and a second frame 3142 which are drivingly connected to each other;

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

[0093] The spindle feeding machining mechanism 32 comprises a third sliding table 321 and a hole drilling tool 322, the hole drilling tool 322 is supported on the sliding part of the third sliding table 321, and the body of the third sliding table 321 is supported on the second frame 3142, and the third sliding table 321 can drive the hole drilling tool 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 drilling tool 322 can extend from the opening of the second frame 3142 to the skin.

[0095] The walking mechanism 33 comprises V-shaped wheels 331, walking wheels and a third motor, the V-shaped wheels 331 and the walking wheels are both arranged on the body of the first sliding table 311, and the third motor is drivingly connected with the walking wheels;

[0096] The V-shaped wheels 331 are arranged in plurality, and a clamping area matching the width of the climbing track line and the reversing guide rail 2 is formed between adjacent V-shaped wheels 331, and the rotation axis of the V-shaped wheels 331 is parallel to the thickness direction of the climbing track line;

[0097] The walking wheels can be in frictional contact with the surfaces of the climbing track line and the reversing guide rail 2, so that when the walking wheels rotate, the whole climbing wall hole drilling robot 3 is driven to move.

[0098] In the embodiment, the climbing wall hole drilling robot 3 combines the posture adjusting mechanism 31, the spindle feeding machining mechanism 32 and the walking mechanism 33, and can perform accurate hole drilling operation on the complex skin surface, thereby ensuring the matching degree of the climbing wall hole drilling robot 3 to the skin shape.

[0099] The posture adjusting mechanism 31 is responsible for adjusting the position and posture of the spindle feeding machining mechanism 32 in the three-dimensional space. The first sliding table 311 and the second sliding table 312 can move along the X-direction and the Y-direction respectively, providing the whole posture adjusting mechanism 31 with the freedom of movement in the two-dimensional plane, so that the climbing wall hole drilling robot 3 can move flexibly on the horizontal plane to adapt to the hole drilling requirements at different positions.

[0100] The first swing frame 313 and the second swing frame 314 can rotate along the X direction and the Y direction respectively, providing the wall-climbing hole-making robot 3 with additional rotational degrees of freedom. The rotational capability enables the spindle feeding machining mechanism 32 to make flexible posture adjustment in three-dimensional space, ensuring that the hole-making drill 322 can accurately aim at the target position. In this way, even if the skin has a curvature, the angle of the spindle feeding machining mechanism 32 can be adjusted through 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, which can improve the compactness of the wall-climbing hole-making robot 3. By supporting the spindle feeding machining mechanism 32 on the second frame 3142 and enabling the drill bit of the spindle feeding machining mechanism 32 to extend from the opening position of the second frame 3142 to the skin, the compactness of the wall-climbing hole-making robot 3 can be further improved.

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

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

[0104] The walking wheel is in frictional contact with the surface of the climbing track line and the reversing guide rail 2. When the walking wheel rotates, it can drive the entire wall-climbing hole-making robot 3 to move as a whole. Specifically, the walking wheel can be set as a synchronous wheel, and the surface of the corresponding climbing track line and reversing guide rail 2 is provided with a synchronous track matching the synchronous wheel, so as to improve the stability of the wall-climbing hole-making robot 3 during movement and avoid slipping of the walking wheel.

[0105] The first motor 3131, the second motor 3141, and the third motor can all be set as servo motors to realize precise control in cooperation with the control system.

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

[0107] Embodiment 8:

[0108] Reference Figure 1-Figure 4The embodiment of the present application further has the following technical solutions in addition to all the technical solutions of any one of the above embodiments.

[0109] The guide rail unit 1 is provided with a hole for positioning, and the drill bit of the hole drilling tool 322 can pass through the hole for positioning to perform hole drilling work, so as to ensure the perpendicularity of the drill bit and the skin section, that is, the drilling direction of the drill bit is the normal direction of the skin, thereby ensuring the drilling accuracy.

[0110] Embodiment 9:

[0111] Referring to Figure 1-Figure 4 The embodiment of the present application further has the following technical solutions in addition to all the technical solutions of any one of the above embodiments.

[0112] The wall-climbing hole drilling robot 3 is provided in multiple numbers and can work simultaneously, thereby doubling the hole drilling efficiency of the hole drilling system.

[0113] Embodiment 10:

[0114] Figure 1-Figure 4 The embodiment of the present application further provides a skin wall-climbing hole drilling method, which comprises the replaceable-rail aircraft skin large-area wall-climbing hole drilling system of any one of the above embodiments 1-9, and the hole drilling method comprises the following steps.

[0115] S1: sliding the wall-climbing hole drilling robot 3 along one end of a climbing track line to the other end and completing hole drilling of the skin at the corresponding position;

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

[0117] S3: sliding the wall-climbing hole drilling robot 3 along one end of the next climbing track line to the other end and completing hole drilling of the skin at the corresponding position;

[0118] S4: repeating S2-S3 until the hole drilling work of the skin is completed.

[0119] Through the above hole drilling method, continuous hole drilling work of the skin can be realized, thereby improving the hole drilling efficiency of the skin.

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

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

[0122] Sa2: switching the reversing guide rail 2 at the downstream end of the corresponding climbing track line to the engaged state, and sliding the wall-climbing hole drilling robot 3 from the corresponding climbing track line to the corresponding reversing guide rail 2 in the engaged state.

[0123] Sa3: switching the support switching guide rail 2 of the wall-climbing hole making robot 3 and the downstream switching guide rail 2 adjacent to the switching guide rail 2 to the transmission state, and sliding the wall-climbing hole making robot 3 to the downstream switching guide rail 2;

[0124] Sa4: when the wall-climbing hole making robot 3 moves to the switching guide rail close to the downstream longitudinal rail 200, switching the corresponding switching guide rail 2 to the engagement state, and sliding the wall-climbing hole making robot 3 to the downstream longitudinal rail 200;

[0125] Sa5: sliding the wall-climbing hole making robot 3 along one end of the corresponding longitudinal rail 200 to the other end, and completing the hole making of the corresponding position skin;

[0126] When the switching guide rail 2 is supported at the same side end of the climbing rail line, the hole making method further comprises:

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

[0128] Sa7: repeating Sa2-Sa6 until the hole making of the skin corresponding to all longitudinal rails 200 is completed;

[0129] Sa8: based on the completion of the setting of the transverse rail 100, switching the corresponding switching guide rail to the engagement state to receive the wall-climbing hole making robot 3 from the longitudinal rail 200;

[0130] Sa9: switching the support switching guide rail 2 of the wall-climbing hole making robot 3 and the downstream switching guide rail 2 adjacent to the switching guide rail 2 to the transmission state, and sliding the wall-climbing hole making robot 3 to the downstream switching guide rail 2, while controlling the wall-climbing hole making robot 3 to slide downstream along the switching guide rail;

[0131] Sa10: when the wall-climbing hole making robot 3 moves to the switching guide rail close to one transverse rail 100, switching the corresponding switching guide rail 2 to the engagement state, and sliding the wall-climbing hole making robot 3 to the corresponding longitudinal rail 200;

[0132] Sa11: sliding the wall-climbing hole making robot 3 along one end of the corresponding transverse rail 100 to the other end, and completing the hole making of the corresponding position skin;

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

[0134] Sa13: switching the switching guide rail close to the corresponding transverse rail 100 to the engagement state, while moving the wall-climbing hole making robot 3 to the corresponding switching guide rail;

[0135] Sa14: repeating Sa9-Sa11.

[0136] This embodiment aims to illustrate the method of continuous hole drilling along the crawling track line in embodiment 3.

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

[0138] Based on the recognition of the corresponding label 10 by the recognition unit, the position switching of the corresponding reversing guide rail 2 is performed.

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

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

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

[0142] Sa2: The reversing guide rail 2 switches to the engaged state and transfers the wall-climbing hole drilling robot 3 to the reversing guide rail 2

[0143] When the wall-climbing hole drilling robot 3 completes the hole drilling work on the current longitudinal track 200, the corresponding reversing guide rail 2, i.e. 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 drilling 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 switches to the transfer state and transfers the wall-climbing hole drilling robot 3 to the downstream reversing guide rail 2

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

[0146] When the recognition unit needs to recognize the label 10 on the upstream reversing guide rail 2 of the two adjacent reversing guide rails 2, it means that the reversing guide rail 2 has stably supported the wall-climbing hole drilling robot 3, at which time the switching action of the two reversing guide rails 2 is triggered, and the two reversing guide rails 2 are controlled to switch to the transfer state, so that the wall-climbing hole drilling robot 3 can move to the downstream reversing guide rail 2.

[0147] Sa4: The reversing guide rail 2 switches to the engaged state and transfers to the downstream longitudinal track 200;

[0148] When the wall-climbing hole-making robot 3 reaches the downstream reversing guide rail 2, the reversing guide rail 2 is switched to the engaged state. Then, the wall-climbing hole-making robot 3 slides from the reversing guide rail 2 to the downstream longitudinal rail 200, preparing for the next round of hole-making work.

[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 at this time, 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 rail 200 and makes holes;

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

[0152] Sa6: The wall-climbing hole-making robot 3 is caused to slide along one end of the corresponding longitudinal rail 200 to the other end.

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

[0154] Sa7: Repeating Sa2-Sa6, the hole-making work of the skin at all positions of the longitudinal rail 200 is completed.

[0155] After the hole-making of the skin at the longitudinal rail 200 is completed, the hole-making of the skin at the transverse rail 100 can be performed at random, as follows:

[0156] Sa8: The transverse rail 100 is arranged. At this time, the rail unit interfering with the longitudinal rail 200 and the transverse rail 100 needs to be removed. After the hole-making work of the skin at the longitudinal rail 200 is completed, the wall-climbing hole-making robot 3 is supported at the tail end of the longitudinal rail 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 rail 200.

[0157] Sa9: The two adjacent reversing guide rails are a group. The reversing guide rails in a group are switched to the transfer state, so that the wall-climbing hole-making robot 3 can run to the next reversing guide rail in a group of reversing guide rails. When the transfer is performed in this step, when there are multiple groups of reversing guide rails, the wall-climbing hole-making robot 3 continuously moves on the reversing guide rails until it moves to the reversing guide rail close to the transverse rail 100.

[0158] In this process, after the recognition unit recognizes the label 10, it indicates that the wall-climbing hole drilling robot 3 has moved to the corresponding reversing guide rail, each label 10 represents a reversing guide rail, so that the controller can control the reversing guide rail to switch to the required state according to the difference of the label 10 recognized by the recognition unit.

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

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

[0161] Sa12: The wall-climbing hole drilling robot 3 moves to the reversing guide rail again.

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

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

[0164] Specifically, Figure 3 and Figure 4 The movement trajectory of the wall-climbing hole drilling robot 3 in the above hole drilling method is shown.

[0165] Among them, Figure 3 In the above hole drilling method, the wall-climbing hole drilling robot 3 first performs hole drilling operation on the skin corresponding to the longitudinal rail 200, and the movement route of the wall-climbing hole drilling robot 3 is A-B-C-D-C-E-F-E.

[0166] When the hole drilling operation on the skin corresponding to the longitudinal rail 200 is completed, referring to Figure 4 , the wall-climbing hole drilling robot 3 can be temporarily supported on the second intermediate guide rail 5 at E, and after the transverse rail 100 is arranged, the hole drilling operation is performed on the skin corresponding to the transverse rail 100. Similarly, according to the above method, the movement route of the wall-climbing hole drilling robot 3 is E-G-H-I-H-G-K-G-L-M.

[0167] It can be understood that the above embodiments 1-9 can be freely combined to form other embodiments of the present application, except for the parts that conflict.

[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 to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0169] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0170] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean 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. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

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

[0172] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A track-changeable large-area wall-climbing hole-making system for aircraft skins, characterized by: It includes 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; 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 reversing guide rails (2) are capable of docking with each other; 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 transverse tracks (100), and another group of the crawling track lines extends vertically to form longitudinal tracks (200); 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; 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 rails (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; It also includes a driving device (9), the output end of the driving device (9) being connected to the reversing guide rail (2).

2. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 1, characterized in that: The guide rail unit (1) corresponding to the transverse rail (100) and / or the longitudinal rail (200) is detachably connected to the skin.

3. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 2, 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.

4. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 3, characterized in that: The driving device (9) is supported on the edge support portion (8).

5. The track-changeable aircraft skin large-area wall-climbing hole-making system according to claim 4, characterized in that: The large-area wall-climbing hole-making system for aircraft skin with a changeable track further includes a controller. The large-area wall-climbing hole-making system for aircraft skin with a changeable track further includes an identification unit and a label (10). The identification unit is provided on the wall-climbing hole-making robot (3), and the label (10) is provided on the reversing guide rail (2). The identification unit, the driving device (9) and the controller are controlled and connected; when the identification unit identifies the label (10), the controller can control the driving device (9) to operate so that the corresponding reversing guide rail (2) completes position switching.

6. The track-changeable large-area wall-climbing hole-making system for aircraft skin according to any one of claims 1 to 5, characterized in that: The wall-climbing hole-making robots (3) are arranged in plurality and are capable of working simultaneously.

7. A method for making holes by climbing a wall, characterized in that: The large-area wall-climbing hole-making system for a rail-changeable aircraft skin according to any one of claims 1 to 6, 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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