Movable assembly tool and method for positioning aircraft belly finished product

Abstract

The invention discloses a movable assembly tool and method for positioning an aircraft belly finished product, and belongs to the technical field of aircraft assembly. The device comprises a hollow AGV, a stepped lifting mechanism and a six-degree-of-freedom platform which are sequentially connected from bottom to top. The six-degree-of-freedom platform comprises a Z-direction moving unit, a Y-direction moving unit, an X-direction moving unit and a three-corner fine adjustment and lateral push-out mechanism which are sequentially arranged from bottom to top. The problems that the aircraft design space is narrow, measurement and installation operation is extremely difficult and the like are solved, and high-precision aircraft finished product installation can be achieved. The posture adjusting system part adopts digital high-precision control, the positioning precision is high, the automation degree is high, the production efficiency and the safety are high, damage to fasteners is reduced, and the burden of workers is relieved. According to the tool, a movable tool mode is adopted, the position of the assembly tool can be rapidly adjusted so as to meet the installation position requirements of different products, assembly of different aircraft similar structure products can be completed, and the assembly period of an aircraft is greatly shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft assembly, and in particular relates to a mobile assembly tool and a method thereof for positioning a finished product on the belly of an aircraft. Background Art

[0002] Aircraft assembly technology is constantly improving, and assembly methods have evolved from traditional manual assembly and semi-automatic assembly to automation, flexibility and digitization. The assembly of parts and components plays an important role in the aircraft assembly process. Traditional assembly is inefficient, costly, requires high labor, and the docking quality is difficult to guarantee. The use of automated flexible assembly technology can effectively reduce the assembly error of large parts and improve the assembly quality. Research on automated assembly technology for aircraft parts and components has important engineering application value and practical significance.

[0003] Aircraft manufacturers represented by Boeing and Airbus have applied large-component digital assembly technology in aircraft assembly. In the final assembly line of Boeing 787 aircraft in the United States, a fuselage segment automatic positioning system and two wing automatic attitude adjustment systems are used to complete the positioning of the front and rear fuselages and left and right wings. Airbus' A380 aircraft also uses automated flexible assembly technology when docking and assembling the fuselage segments.

[0004] With the increasing number of newly developed aircraft in China, the technologies of automated tooling, flexible assembly tooling and flexible docking tooling have also developed rapidly. Aviation Industry Shenyang Aircraft Corporation has adopted flexible assembly tooling in the assembly of fuselage components, and studied the positioning and measurement method using laser trackers to achieve digital flexible assembly of fuselage components. The automated flexible docking system jointly developed by COMAC and Zhejiang University realizes the digital positioning, attitude adjustment and automatic flexible docking of large fuselage components in the docking and assembly of large fuselage components of the ARJ21 aircraft.

[0005] Although the research on the technology of automatic flexible docking of large aircraft parts has achieved certain results at home and abroad, especially the docking technology of large parts with sleeve connection has become mature. However, there is a lack of flexible positioning and assembly equipment for the positioning and assembly of finished aircraft parts. The main problem is that the design space of the aircraft is small, and the measurement and installation operations are extremely difficult, which greatly increases the difficulty of installing finished parts. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects in the prior art and provide a mobile assembly tool and method for positioning the finished product on the belly of an aircraft. The tool aims to solve the problems of inconvenient manual operation, low safety and low efficiency during the assembly of the side components of the aircraft, and realizes the fine adjustment of the six degrees of freedom of the installed finished parts, with reliable and safe locking, high degree of automation, convenient and quick adjustment, large lifting range, and improved work efficiency of workers.

[0007] The specific technical solutions adopted by the present invention are as follows:

[0008] In a first aspect, the present invention provides a mobile assembly tool for positioning finished products on the belly of an aircraft, comprising a hollow AGV vehicle, a stepped lifting mechanism, and a six-degree-of-freedom platform connected in sequence from bottom to top;

[0009] The hollow AGV vehicle is a latent vehicle body, with a groove in the center of the top and a stepped lifting mechanism installed; the stepped lifting mechanism includes a number of step components coaxially sleeved from outside to inside, and adjacent step components are vertically slidably connected to achieve vertical lifting; the six-degree-of-freedom platform includes a Z-direction moving unit, a Y-direction moving unit, an X-direction moving unit, a three-angle fine-tuning and lateral ejection mechanism arranged in sequence from bottom to top, wherein the Z-direction moving unit is sleeved and installed in the hollow interior of the step component located at the innermost side; the three-angle fine-tuning and lateral ejection mechanism includes a three-angle adjustment mechanism, a lateral ejection mechanism and a mounting table; a mounting table is fixed on the top of the three-angle adjustment mechanism for realizing the rotation of the mounting table around the X-axis, the Y-axis and the Z-axis; the lateral ejection mechanism is arranged on one side of the mounting table for laterally ejecting the finished parts on the mounting table.

[0010] Preferably, the hollow AGV vehicle includes a steering drive wheel, a vehicle chassis, a non-contact laser scanner, a battery pack, a control cabinet, a vehicle body, an ultrasonic ranging sensor, a safety anti-collision edge strip and a bracket;

[0011] A groove for installing a stepped lifting mechanism is opened in the middle of the vehicle body, non-contact laser scanners are installed at the front and rear ends respectively, a number of ultrasonic ranging sensors and safety anti-collision edge strips are installed circumferentially, a battery pack and a control cabinet are installed inside, and a latent vehicle body chassis is fixed at the bottom; the vehicle body chassis is symmetrically provided with steering drive wheels and brackets, the steering drive wheels are used to drive the vehicle body to move, and the bracket can adjust the downward extension height to achieve the fixation of the vehicle body position.

[0012] Preferably, the step-type lifting mechanism comprises a bottom frame, a first servo motor, a lead screw lift, a linear guide rail, a lifting pulley assembly, a first step assembly, a second step assembly and a third step assembly;

[0013] The bottom frame is installed at the bottom of the groove of the hollow AGV vehicle, and the first step assembly, the second step assembly and the third step assembly are coaxially sleeved in sequence from the outside to the inside. The bottom frame and the first step assembly, the first step assembly and the second step assembly, and the second step assembly and the third step assembly are respectively slidably connected by vertically arranged linear guide rails; the first servo motor is horizontally arranged and extends from the bottom of the bottom frame, and the action end is connected to a vertical lead screw elevator, and the action end of the lead screw elevator is connected to the bottom of the first step assembly;

[0014] The lifting pulley assembly includes a first fixed pulley, a second fixed pulley, a first rope and a second rope; the first step assembly is provided with a first fixed pulley on the top, one end of the first rope is connected to the top of the bottom frame, and the other end is connected to the bottom of the second step assembly after passing through the first fixed pulley; the second step assembly is provided with a second fixed pulley on the top, one end of the second rope is connected to the top of the first step assembly, and the other end is connected to the bottom of the third step assembly after passing through the second fixed pulley; when the first step assembly is lifted or lowered under the action of the screw lifter, the second step assembly and the third step assembly can be lifted or lowered synchronously under the action of the lifting pulley assembly.

[0015] Preferably, the Z-direction moving unit includes a fourth servo motor, a coupling and a third ball screw; the active end of the fourth servo motor is connected to the third ball screw arranged along the Z-axis direction through a coupling, and the active end of the third ball screw is connected to the Y-direction moving unit.

[0016] Preferably, the Y-axis moving unit includes a third servo motor, a second coupling seat, a second linear rolling guide, a second ball screw, a Y-axis base, a Y-axis slide, a second dynamic torque sensor and a second end plate; two second linear rolling guides are arranged in parallel along the Y-axis direction on the top of the Y-axis base, and the Y-axis slide is slidably connected to the two second linear rolling guides; the third servo motor is fixed on the Y-axis base, and the active end is connected to one end of the second ball screw through the second coupling seat, and the other end of the second ball screw is fixed to the Y-axis base through the second end plate; the second ball screw is arranged along the Y-axis direction, and a second dynamic torque sensor is provided on it, and the active end is connected to the Y-axis slide; the second ball screw is driven to rotate by the third servo motor to realize the movement of the Y-axis slide along the Y-axis direction.

[0017] Preferably, the X-axis moving unit includes a second servo motor, a first coupling seat, a first linear rolling guide, a first ball screw, an X-axis base, an X-axis slide, a first dynamic torque sensor and a first end plate; two first linear rolling guides are arranged in parallel on the top of the X-axis base along the X-axis direction, and the X-axis slide is slidably connected to the two first linear rolling guides; the second servo motor is fixed on the X-axis base, and the active end is connected to one end of the first ball screw through the first coupling seat, and the other end of the first ball screw is fixed to the X-axis base through the first end plate; the first ball screw is arranged along the X-axis direction, and a first dynamic torque sensor is arranged on it, and the active end is connected to the X-axis slide; the second servo motor drives the first ball screw to rotate to realize the movement of the X-axis slide along the X-axis direction.

[0018] Preferably, the three-angle adjustment mechanism includes a first transverse plate, a second transverse plate and a third transverse plate which are stacked in sequence from bottom to top; the first transverse plate is connected to one side of the X-direction moving unit with an adjustment device that can change the length in the horizontal direction, and the other sides are hinged to each other, so that the first transverse plate can rotate around the Z axis under the extension and contraction of the adjustment device; the second transverse plate is connected to one side of the first transverse plate with an adjustment device that can change the length in the vertical direction, and the other sides are hinged to each other, so that the second transverse plate can rotate around the X axis under the extension and contraction of the adjustment device; the third transverse plate is connected to one side of the second transverse plate with an adjustment device that can change the length in the vertical direction, and the other sides are hinged to each other, so that the third transverse plate can rotate around the Y axis under the extension and contraction of the adjustment device.

[0019] Furthermore, the adjustment device includes a first ear, a second ear, a bolt and a first hand wheel; the first ear and the second ear are respectively connected to two adjacent sides of the plate, a bolt passes through the two, and the first hand wheel is fixed to one end of the bolt.

[0020] Preferably, the lateral ejection mechanism includes a second hand wheel, a lead screw and a push plate; two parallel grooves are opened on the mounting platform, and slide rails are respectively installed in the grooves; the bottom of the push plate is slidably connected to the slide rail, the top is higher than the mounting platform, and the outer side is connected to the second hand wheel through a lead screw; operating the second hand wheel can drive the push plate through the lead screw to push the finished part laterally out of the mounting platform.

[0021] In a second aspect, the present invention provides a control method for a mobile assembly tool for positioning a finished product on the belly of an aircraft using any one of the first aspects, which is specifically as follows:

[0022] Control the hollow AGV to move to the designated position on the side of the aircraft, fix the body of the vehicle through the bracket at the bottom of the hollow AGV, and fix the finished parts on the installation table through the tooling; move the hollow AGV to the position on the belly of the aircraft where the finished parts are to be installed, and fix the body of the vehicle through the bracket at the bottom of the hollow AGV; start the first servo motor of the step-type lifting mechanism, and control the step-type lifting mechanism to rise to the designated height position through the transmission action of the screw lift, linear guide rail and lifting pulley assembly; adjust the height of the step-type lifting mechanism through the Z-axis moving unit, Y-axis moving unit, X-axis moving unit and three-angle adjustment mechanism. Adjust the position of the finished parts on the X-axis, Y-axis and Z-axis so that the finished parts are aligned with the position of the aircraft belly cover so that they can pass through the cover; through the stepped lifting mechanism and the Z-axis moving unit, the finished parts are raised to the specified height position through the cover; through the lateral pushing mechanism, the finished parts are pushed to the specified position along the wingspan direction; the lateral pushing mechanism, the three-angle adjustment mechanism, the X-axis moving unit, the Y-axis moving unit, the Z-axis moving unit and the stepped lifting mechanism are retracted to the initial position in sequence, the hollow AGV vehicle is moved to the specified position on the side of the aircraft, and the body of the hollow AGV vehicle is fixed by the bracket at the bottom.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1) The six-degree-of-freedom platform with push-out function can realize six-degree-of-freedom posture adjustment, in which the X, Y, and Z directions are all digitally controlled with high precision, and the A, B, and C axes can be manually fine-tuned;

[0025] 2) It can quickly adjust the position of finished parts, with high assembly efficiency and safety, reduce fastener damage, and reduce the burden on workers;

[0026] 3) The tooling adopts a combination of rigid tooling and flexible tooling, which can be quickly reconstructed and adjusted to adapt to the installation environment of different finished parts, complete the assembly of different finished parts, save a lot of professional tooling, and greatly shorten the assembly cycle of aircraft finished parts;

[0027] 4) The tooling can adapt to the complex assembly environment of the aircraft and can easily complete assembly alignment work at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure when the mobile assembly tool is positioning and installing the finished aircraft parts;

[0029] Figure 2 Schematic diagram of a hollow AGV vehicle of a mobile assembly tool; (a) is a bottom view, and (b) is an axonometric view;

[0030] Figure 3 It is an axonometric view of the stepped lifting mechanism of the mobile assembly tooling;

[0031] Figure 4 It is an axonometric view of a mobile assembly tool with a six-degree-of-freedom platform with a push-out function;

[0032] Figure 5 It is an axonometric view of the X-axis moving unit of the mobile assembly tooling;

[0033] Figure 6 It is an axonometric view of the Y-axis moving unit of the mobile assembly tooling;

[0034] Figure 7 It is an axonometric view of the Z-direction moving unit of the mobile assembly tooling;

[0035] Figure 8 It is an axonometric view of the three-angle fine adjustment and lateral push-out mechanism of the mobile assembly tooling at different angles;

[0036] Fig. 9 It is a schematic diagram of the overall structure of the mobile assembly tooling in its original state;

[0037] The reference numerals in the figure are: steering drive wheel 101, vehicle chassis 102, non-contact laser scanner 103, battery pack 104, control cabinet 105, vehicle body 106, ultrasonic ranging sensor 107, safety anti-collision edge strip 108, bracket 109, bottom frame 1, first servo motor 2, screw lift 3, linear guide 4, lifting pulley assembly 5, first step assembly 6, second step assembly 7, third step assembly 8, X-axis moving unit 10, Y-axis moving unit 11, Z-axis moving unit 12, three-angle fine adjustment and lateral ejection mechanism 13, second servo motor 14 , the first coupling seat 15, the first linear rolling guide 16, the first ball screw 17, the X-axis base 18, the X-axis slide 19, the first dynamic torque sensor 20, the first end plate 21, the third servo motor 22, the second coupling seat 23, the second linear rolling guide 24, the second ball screw 25, the Y-axis base 26, the Y-axis slide 27, the second dynamic torque sensor 28, the second end plate 29, the fourth servo motor 30, the coupling 31, the third ball screw 32, the mounting table 33, the first hand wheel 34, the adjustment device 35, the second hand wheel 36, the screw 37, and the push plate 38. DETAILED DESCRIPTION

[0038] The present invention is further described and illustrated below in conjunction with the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly without conflicting with each other.

[0039] like Fig. 9 As shown, the present invention provides a mobile assembly tool for positioning the finished product on the belly of an aircraft. The mobile assembly tool mainly includes a hollow AGV vehicle, a stepped lifting mechanism, and a six-degree-of-freedom platform with a push-out function. The hollow AGV vehicle, the stepped lifting mechanism, and the six-degree-of-freedom platform are connected in sequence from bottom to top. Among them, the hollow AGV vehicle can realize the movement of the entire device; the stepped lifting mechanism can realize a large range of vertical lifting; the six-degree-of-freedom platform is used to adjust the posture of the finished product and realize the six-degree-of-freedom positioning operation of the aircraft assembly.

[0040] The structure and connection method of each component will be described in detail below.

[0041] In the present invention, if Figure 2 As shown in the figure, the hollow AGV is a lurking body with a groove in the top center. The groove is used for the installation of the stepped lifting mechanism, which can save space to adapt to the different height requirements of the aircraft finished parts assembly process. The chassis adopts a four-steering driving wheel layout, and the omnidirectional motion equipment can realize forward movement, lateral movement, oblique movement, rotation and their combination.

[0042] As a preferred embodiment of the present invention, the hollow AGV vehicle mainly includes a steering drive wheel 101, a vehicle chassis 102, a non-contact laser scanner 103, a battery pack 104, a control cabinet 105, a vehicle body 106, an ultrasonic ranging sensor 107, a safety anti-collision edge strip 108 and a bracket 109. Among them, the body structure of the hollow AGV vehicle is hollow, which can accommodate a stepped lifting mechanism, so that the lifting range is larger and the assembly tooling structure is compact. The steering drive wheel is installed on the hollow AGV vehicle chassis, which can realize forward movement, oblique movement, rotation and their combination. It has strong load capacity and flexible movement, and has small friction resistance in the power-off state, which can flexibly cope with complex aircraft workshop conditions. The non-contact laser scanner can realize the perception of the environment and stop the vehicle body movement after encountering an obstacle. The battery pack is installed inside the vehicle body and uses lithium iron phosphate batteries to meet the endurance requirements of more than 6 hours. The control cabinet is located inside the vehicle body, and is equipped with the motor driver, sensor and other drive control components for the vehicle body steering drive wheel and the upper attitude adjustment mechanism drive motor. The safety anti-collision edge strip is the main device to prevent collision. The ultrasonic ranging sensor is located at the four corners of the vehicle body, covering the entire vehicle body range, and is very sensitive to the obstacle detection around the vehicle body, which effectively ensures the safety of the vehicle body during operation.

[0043] Specifically, the device structure of the hollow AGV vehicle in this embodiment is as follows:

[0044] A groove for installing a stepped lifting mechanism is provided in the middle of the vehicle body 106, and non-contact laser scanners 103 are installed at the front and rear ends respectively. Multiple ultrasonic distance measuring sensors 107 and multiple safety anti-collision edge strips 108 are installed around the vehicle body 106 to reduce and avoid the impact of collision when the vehicle body crosses complex terrain. A battery pack 104 and a control cabinet 105 are installed inside the vehicle body 106. The control cabinet 105 is used to control the driving motors, sensors, etc. of the steering drive wheel and the upper posture adjustment mechanism. A latent vehicle chassis 102 is fixed at the bottom of the vehicle body 106, and a steering drive wheel 101 and a bracket 109 are symmetrically arranged on the vehicle chassis 102. The steering drive wheel 101 is used to drive the vehicle body 106 to move, and the bracket 109 can adjust the downward extension height to achieve the fixation of the position of the vehicle body 106. In actual application, steering drive wheels 101 can be installed at the four corners of the vehicle chassis 102 to achieve free movement in multiple directions; brackets 109 can be installed around the vehicle chassis 102, and the lower part of the bracket can be extended and exceed the steering drive wheel 101 to lift the entire vehicle body, so that the mobile assembly tool can be fixed at a specified position.

[0045] Specifically, the driving control method of the hollow AGV vehicle in this embodiment is as follows:

[0046] The travel motor is responsible for outputting the forward force of the entire hollow AGV vehicle. During the walking process, the travel encoder records the number of rotations and feeds back to the driver. The driver then feeds back to the hollow AGV control system, compares the input value with the feedback value and adjusts it to achieve precise walking control. The travel motor is equipped with an electromagnetic brake, which can effectively brake. When turning, the steering motor rotates through gears. The large gear is part of the rotating support. The large gear is fixed to the vehicle body. The rotating part of the rotating support is fixed to the travel motor and the driving wheel part. That is, the rotating motor is running, and the lower part of the large gear rotates as a whole to realize the AGV steering. When rotating, the small gear and the large gear on the steering encoder also rotate relative to each other. The angle rotation is monitored through the large and small gear ratio to achieve precise steering.

[0047] Specifically, the collision protection and monitoring method of the hollow AGV vehicle in this embodiment is as follows:

[0048] Two non-contact laser scanners are installed at both ends of the chassis, and ultrasonic ranging sensors are installed around. By detecting obstacles within the range, the signal collection and feedback are realized, and the control system will respond safely and alarm. The peripheral cover is designed with an inspection door to ensure inspection and maintenance; the control cabinet and power pack adopt a modular design, which is easy to disassemble and assemble and can be waterproof and dustproof; it adopts engineering plastic design and the surface is painted with topcoat, which has a beautiful appearance and meets the requirements of lightweight design.

[0049] Specifically, the control scheme of the hollow AGV vehicle in this embodiment can be divided into four parts: control system, control panel, remote control module and safety and warning system, as follows:

[0050] The control system uses a wired remote control operation function, which controls the movement of the equipment through the remote control, and uses batteries to provide power. The vehicle control system is divided into three layers. The first layer is the main control system, which coordinates and processes the data fed back by each subsystem and issues control instructions to the corresponding subsystem. The second layer is the subsystem, including the main control system, power supply, BMS system, wheel drive system, fault feedback system and communication system. The third layer is the drive layer, which is mainly composed of drivers and motors, used to control the speed and steering of the vehicle wheels.

[0051] The control panel includes a start area, an action enable area, and a charging status area. The display screen is used to display the direction and speed parameters of the platform's travel and lifting; the fault type description of the fault alarm; the charging and discharging current and voltage values; the power percentage; and the safety sensor parameters. The start area includes the travel and lifting switch knob and indicator light, the power switch, the emergency stop button, the handwheel enable switch and indicator light, and the handwheel. The action enable area includes the remote control enable button, the platform lifting button (fast), the four-direction travel and rotation buttons (X, Y, Z), and the remote control line control interface. The charging status area includes the charging connection indicator light, the charging indicator light, and the power display light array. The power display light array will light up different numbers of lights depending on the power percentage.

[0052] The remote control module adopts wired connection mode, with a rocker and handwheel switch, and the remote control has coarse and fine adjustment functions. Use the coarse adjustment rocker to quickly get into position when moving over long distances, and use the fine adjustment remote control device for precise inching positioning when aligning. The forward, backward, sideways and self-rotation of the equipment can all be controlled by the fine adjustment device, and it also has speed change and emergency stop functions.

[0053] The safety and warning system installs emergency stop switches on the handheld remote control, control panel and collision-prone positions of the vehicle body; warning signs and warning colors are set on various dangerous parts of the vehicle body in accordance with GB2893 and GB2894; an audio-visual warning device is installed on the vehicle body to distinguish whether the vehicle is in normal working condition or faulty condition through different strobe frequencies / colors and the urgency of sounds / frequency levels of sounds; non-contact laser scanner obstacle avoidance and ultrasonic ranging sensors are installed diagonally on the equipment to scan the surroundings of the vehicle. When obstacles are detected within the range, the vehicle is protected through three stages: alarm, deceleration and stop; safety anti-collision edge strips are installed at the lower position of the vehicle body. When a lower obstacle touches the safety anti-collision edge strips, the vehicle stops running, and the vehicle automatically resumes running after the obstacle is removed.

[0054] In the present invention, if Figure 3 As shown, a stepped lifting mechanism is installed in the groove at the center of the top of the hollow AGV. The stepped lifting mechanism includes a plurality of step components coaxially sleeved from outside to inside, and adjacent step components are vertically slidably connected to achieve vertical lifting.

[0055] As a preferred embodiment of the present invention, the step-type lifting mechanism is controlled by digital high-precision to ensure the accurate position and stable positioning of the parts, provide automated operation, and can achieve control of a wide range of lifting heights by means of a handheld remote control or the like. The step-type lifting mechanism mainly includes a bottom frame 1, a first servo motor 2, a lead screw lift 3, a linear guide 4, a lifting pulley assembly 5, a first step assembly 6, a second step assembly 7, and a third step assembly 8. Among them, the bottom frame 1 is installed at the bottom of the groove of the hollow AGV vehicle, and the interior of the bottom frame 1 is coaxially sleeved with a first step assembly 6, a second step assembly 7, and a third step assembly 8 from the outside to the inside. The bottom frame 1 and the first step assembly 6 are slidably connected by a vertically arranged linear guide 4, so that the first step assembly 6 can be vertically lifted and lowered in the bottom frame 1. The first step assembly 6 and the second step assembly 7 are slidably connected by a vertically arranged linear guide 4, so that the second step assembly 7 can be vertically lifted and lowered in the first step assembly 6. The second step assembly 7 and the third step assembly 8 are slidably connected by a vertically arranged linear guide rail 4, so that the third step assembly 8 can be vertically lifted and lowered in the second step assembly 7. The first servo motor 2 is horizontally arranged and extends from the bottom of the bottom frame 1, and the action end is connected to a vertical screw elevator 3, and the action end of the screw elevator 3 is connected to the bottom of the first step assembly 6. The lifting pulley assembly 5 includes a first fixed pulley, a second fixed pulley, a first rope and a second rope. The top of the first step assembly 6 is provided with a first fixed pulley, one end of the first rope is connected to the top of the bottom frame 1, and the other end is connected to the bottom of the second step assembly 7 after passing the first fixed pulley. The top of the second step assembly 7 is provided with a second fixed pulley, one end of the second rope is connected to the top of the first step assembly 6, and the other end is connected to the bottom of the third step assembly 8 after passing the second fixed pulley. When the first step assembly 6 is lifted and lowered under the action of the screw elevator 3, the second step assembly 7 and the third step assembly 8 can be lifted and lowered synchronously under the action of the lifting pulley assembly 5.

[0056] In actual use, the servo motor 2 is connected to the screw lift 3, the servo motor 2 is located between the two control cabinets 105, and the screw lift 3 is installed under the first step assembly 6 to save equipment space. The servo motor 2 drives the screw lift 3 to vertically realize the lifting and lowering of the first step assembly 6. At the same time, the lifting and lowering of the first step assembly 6 will cause the pulley assembly 5 to move and drive the bottom groove of the second step assembly 7 to lift and lower, thereby lifting and lowering the second step assembly 7, and the second step assembly 7 drives the third step assembly 8 to move in the same way.

[0057] In the present invention, if Figure 4As shown, the six-degree-of-freedom platform includes a Z-axis moving unit 12, a Y-axis moving unit 11, an X-axis moving unit 10, and a three-angle fine-tuning and lateral push-out mechanism 13, which are arranged in sequence from bottom to top, wherein the Z-axis moving unit 12 is sleeved and installed in the hollow interior of the innermost step assembly. The three-angle fine-tuning and lateral push-out mechanism 13 includes a three-angle adjustment mechanism, a lateral push-out mechanism, and a mounting table 33. A mounting table 33 is fixed on the top of the three-angle adjustment mechanism, which is used to realize the rotation of the mounting table 33 around the X-axis, the Y-axis, and the Z-axis. The lateral push-out mechanism is arranged on one side of the mounting table 33, and is used to push the finished parts on the mounting table 33 laterally.

[0058] As a preferred embodiment of the present invention, Figure 7 As shown, the Z-direction moving unit 12 is installed in the hollow position at the bottom of the Y-axis motion unit 11, and mainly includes a fourth servo motor 30, a coupling 31 and a third ball screw 32. The working end of the fourth servo motor 30 is connected to the third ball screw 32 arranged along the Z-axis direction through the coupling 31, and the working end of the third ball screw 32 is connected to the bottom of the Y-direction moving unit 11.

[0059] As a preferred embodiment of the present invention, Figure 6 As shown, the Y-axis moving unit 11 includes a third servo motor 22, a second coupling seat 23, a second linear rolling guide 24, a second ball screw 25, a Y-axis base 26, a Y-axis carriage 27, a second dynamic torque sensor 28 and a second end plate 29. Two second linear rolling guides 24 are arranged parallel to each other along the Y-axis direction on the top of the Y-axis base 26, and the Y-axis carriage 27 is slidably connected to the two second linear rolling guides 24. The third servo motor 22 is fixed on the Y-axis base 26, and the working end is connected to one end of the second ball screw 25 through the second coupling seat 23. The other end of the second ball screw 25 is fixed to the Y-axis base 26 through the second end plate 29, and the range of motion is limited by the second end plate 29 and the second coupling seat 23. The second ball screw 25 is arranged along the Y-axis direction, and a second dynamic torque sensor 28 is arranged thereon, and the working end is connected to the Y-axis carriage 27. The Y-axis carriage 27 can be moved along the Y-axis direction by the third servo motor 22 driving the second ball screw 25 to rotate. In actual use, the third servo motor 22 drives the Y-axis carriage 27 through the second ball screw 25, so that the Y-axis carriage 27 uses the second linear rolling guide 24 to perform linear motion in the Y-axis direction.

[0060] As a preferred embodiment of the present invention, Figure 5As shown, the X-axis moving unit 10 is installed in the upper hollow position of the Y-axis moving unit 11 and connected to the Y-axis carriage 27, including a second servo motor 14, a first coupling seat 15, a first linear rolling guide 16, a first ball screw 17, an X-axis base 18, an X-axis carriage 19, a first dynamic torque sensor 20 and a first end plate 21. Two first linear rolling guides 16 are arranged parallel to each other along the X-axis direction on the top of the X-axis base 18, and the X-axis carriage 19 is slidably connected to the two first linear rolling guides 16. The second servo motor 14 is fixed on the X-axis base 18, and the action end is connected to one end of the first ball screw 17 through the first coupling seat 15, and the other end of the first ball screw 17 is fixed to the X-axis base 18 through the first end plate 21, and the range of motion is limited by the first end plate 21 and the first coupling seat 15. The first ball screw 17 is arranged along the X-axis direction, and a first dynamic torque sensor 20 is arranged on it, and the action end is connected to the X-axis carriage 19. The second servo motor 14 drives the first ball screw 17 to rotate to realize the movement of the X-axis carriage 19 along the X-axis direction. In actual use, the second servo motor 14 drives the X-axis carriage 19 through the first ball screw 17, so that the X-axis carriage 19 uses the first linear rolling guide 16 to perform linear motion in the X-axis direction.

[0061] As a preferred embodiment of the present invention, Figure 8 As shown, the three-angle adjustment mechanism includes a first horizontal plate, a second horizontal plate and a third horizontal plate which are stacked in sequence from bottom to top. The first horizontal plate is connected to one side of the X-direction moving unit 10 with an adjustment device 35 capable of changing the length in the horizontal direction, and the other side is hinged to each other, so that the first horizontal plate can rotate around the Z axis under the extension and contraction of the adjustment device 35. The second horizontal plate is connected to one side of the first horizontal plate with an adjustment device 35 capable of changing the length in the vertical direction, and the other side is hinged to each other, so that the second horizontal plate can rotate around the X axis under the extension and contraction of the adjustment device 35. The third horizontal plate is connected to one side of the second horizontal plate with an adjustment device 35 capable of changing the length in the vertical direction, and the other side is hinged to each other, so that the third horizontal plate can rotate around the Y axis under the extension and contraction of the adjustment device 35. Specifically, the adjustment device 35 includes a first ear, a second ear, a bolt and a first hand wheel 34. The first ear and the second ear are respectively connected to two adjacent sides of the plate surface, and a bolt is passed through the two, and one end of the bolt is fixed with the first hand wheel 34. In actual use, the distance between the two plates connected by the adjustment device 35 can be changed by operating the first hand wheel 34. The two plates are hinged at the other end. The change in the distance between the two connected plates is converted into a relative rotation of the two plates around the axis, so that the posture of the finished part placed on the mounting table 33 changes, and then the rotation of the ABC axis around the XYZ axis is realized respectively to complete the posture adjustment.

[0062] As a preferred embodiment of the present invention, Figure 8As shown, the lateral push-out mechanism includes a second hand wheel 36, a lead screw 37 and a push plate 38. Two grooves are parallelly provided on the mounting platform 33, and slide rails are installed in the grooves respectively. The bottom of the push plate 38 is slidably connected to the slide rail, the top is higher than the mounting platform 33, and the outer side is connected to the second hand wheel 36 through the lead screw 37. The second hand wheel 36 can be operated to drive the lead screw 37 to push the push plate 38 to push the finished product out of the mounting platform 33 laterally.

[0063] The specific working principle of the device of the present invention is as follows:

[0064] The hollow AGV vehicle of the present invention can move the finished parts to the designated position of the aircraft, and can fix the mobile assembly tooling through the fixed brackets around it to ensure that the position remains unchanged during the assembly process.

[0065] The step-type lifting mechanism of the present invention can be raised and lowered within a wide range, has a high rated load, and can control its lifting height and speed through a controller to meet the requirements of different installation positions of finished parts.

[0066] The six-degree-of-freedom platform structure with a push-out function of the present invention mainly consists of the three axial degrees of freedom of movement of X, Y and Z and the ABC axis rotational degree of freedom rotating around the XYZ axis.

[0067] The X and Y axis movement adopts the ball screw linear guide movement mode, which has strong load capacity, accurate positioning, controllable speed, high reliability and good self-locking performance. The drive motor adopts a servo motor with high control accuracy and easy operation. The dynamic torque sensor is used for dynamic detection of axial force to improve the degree of intelligent control. The Z axis linear motion adopts the screw transmission mode, which has accurate positioning, controllable speed and self-locking function. At the same time, the telescopic column structure is adopted to ensure that the position can be adjusted in a wide range in the Z axis direction. High-precision guide rails and ball screws can ensure positioning accuracy, and the dynamic torque sensor can dynamically detect the axial force to improve the degree of intelligent control. The Y axis motion unit structure is hollow and adopts an offset drive mode to save space. The Z axis is a telescopic column, which can be raised and lowered over a wide range of distances.

[0068] The rotation around the XYZ axis (i.e., the ABC axis) can be achieved by manual three-angle fine-tuning and lateral push-out mechanism, which can achieve multi-degree-of-freedom fine-tuning of the finished part's position. A manual push-out mechanism is designed on the platform mounting plate, which uses a lead screw drive and operates the hand wheel to push the push plate to push the component out of the platform.

[0069] The working process of the device of the present invention is as follows:

[0070] (1) Move the hollow AGV vehicle (special AGV) through the control panel to the specified position on the side of the aircraft (a certain position away from the belly installation position);

[0071] (2) Fixed hollow AGV vehicle;

[0072] (3) Fix the tooling of the finished part (with a fixed locking tooling) on ​​the mounting table on the hollow AGV vehicle through the tooling clamping device;

[0073] (4) Fix the finished parts on the tooling and tighten them;

[0074] (5) Retract the hollow AGV vehicle fixing device;

[0075] (6) Operate the control panel to move the hollow AGV to the position on the belly of the aircraft where the finished parts are to be installed (the cover position);

[0076] (7) Fixed hollow AGV vehicle;

[0077] (8) Controlling the step-type lifting mechanism (trapezoidal lifting mechanism) to rise to a specified height position through the control panel of the step-type lifting mechanism;

[0078] (9) Adjust the XY axis through the platform control mechanism to align the position of the aircraft belly cover so that the finished part can pass through the cover correctly;

[0079] (10) Control the step-type lifting mechanism through the control panel of the step-type lifting mechanism, and raise it through the cover to the specified height position (installation surface height);

[0080] (11) Push the finished part to the specified position along the wingspan direction by manually adjusting the screw rod;

[0081] (12) Retract the adjusting screw to its initial position;

[0082] (13) Retract the stepped lifting mechanism to its initial position;

[0083] (14) Retract the stepped lifting mechanism (trapezoidal lifting mechanism);

[0084] (15) Retract the hollow AGV vehicle fixing device;

[0085] (16) Move the hollow AGV vehicle to the designated position on the side of the aircraft through the control panel;

[0086] (17) Fixed hollow AGV vehicle.

[0087] The working process (and control method) of the device of the present invention will be specifically described below:

[0088] Control the hollow AGV vehicle to move to the specified position on the side of the aircraft, fix the body of the vehicle through the bracket 109 at the bottom of the hollow AGV vehicle, and fix the finished parts on the mounting table 33 through the tooling. Move the hollow AGV vehicle to the position on the belly of the aircraft where the finished parts are to be installed, and fix the body of the vehicle through the bracket 109 at the bottom of the hollow AGV vehicle. Start the first servo motor 2 of the step-type lifting mechanism, and control the step-type lifting mechanism to rise to the specified height position through the transmission action of the screw lift 3, the linear guide rail 4 and the lifting pulley assembly 5. Adjust the position of the finished parts on the X-axis, Y-axis and Z-axis through the Z-axis moving unit 12, the Y-axis moving unit 11, the X-axis moving unit 10 and the three-angle adjustment mechanism, so that the finished parts are aligned with the position of the aircraft belly cover so that they can pass through the cover. Through the step-type lifting mechanism and the Z-axis moving unit 12, the finished parts are passed through the cover and rise to the specified height position. Through the lateral push-out mechanism, push the finished parts to the specified position along the wingspan direction, such as Figure 1 The lateral push-out mechanism, the three-angle adjustment mechanism, the X-axis moving unit 10, the Y-axis moving unit 11, the Z-axis moving unit 12 and the step-type lifting mechanism are sequentially retracted to the initial position, the hollow AGV vehicle is moved to the designated position on the side of the aircraft, and the body is fixed by the bracket 109 at the bottom of the hollow AGV vehicle.

[0089] The present invention overcomes the problems of small aircraft design space, extremely difficult measurement and installation operations, and can achieve high-precision installation of finished aircraft parts. The attitude adjustment system adopts digital high-precision control, high positioning accuracy, high degree of automation, high production efficiency and safety, reduces fastener damage, and reduces the burden on workers. The tooling adopts a mobile tooling method, which can quickly adjust the position of the assembly tooling to meet the installation position requirements of different products, and can complete the assembly of similar structural products of different aircraft, greatly shortening the assembly cycle of the aircraft.

[0090] The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. A person skilled in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the present invention.

Claims

1. A mobile assembly tool for positioning finished products on the belly of an aircraft, characterized in that: It includes a hollow AGV vehicle, a stepped lifting mechanism and a six-degree-of-freedom platform connected in sequence from bottom to top; The hollow AGV vehicle is a lurking vehicle body, a groove is provided at the center of the top and a stepped lifting mechanism is installed; the stepped lifting mechanism comprises a plurality of stepped components which are coaxially sleeved from the outside to the inside, and adjacent stepped components are vertically slidably connected to achieve vertical lifting; the six-degree-of-freedom platform comprises a Z-direction moving unit (12), a Y-direction moving unit (11), an X-direction moving unit (10), a three-angle fine adjustment and lateral push-out mechanism (13) which are arranged in sequence from bottom to top, wherein the Z-direction moving unit (12) is sleeved and installed in the hollow interior of the stepped component located at the innermost side; the three-angle fine adjustment and lateral push-out mechanism (13) comprises a three-angle adjustment mechanism, a lateral push-out mechanism and a mounting platform (33); a mounting platform (33) is fixed on the top of the three-angle adjustment mechanism for realizing the rotation of the mounting platform (33) around the X-axis, the Y-axis and the Z-axis; the lateral push-out mechanism is arranged on one side of the mounting platform (33) for pushing out the finished parts on the mounting platform (33) laterally.

2. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The hollow AGV vehicle comprises a steering drive wheel (101), a vehicle chassis (102), a non-contact laser scanner (103), a battery pack (104), a control cabinet (105), a vehicle body (106), an ultrasonic distance measuring sensor (107), a safety anti-collision edge strip (108) and a bracket (109); A groove for installing a stepped lifting mechanism is provided in the middle of the vehicle body (106), non-contact laser scanners (103) are respectively installed at the front and rear ends, a plurality of ultrasonic distance measuring sensors (107) and safety anti-collision edge strips (108) are installed circumferentially, a battery pack (104) and a control cabinet (105) are installed inside, and a latent vehicle body chassis (102) is fixed at the bottom; a steering drive wheel (101) and a bracket (109) are symmetrically provided on the vehicle body chassis (102), the steering drive wheel (101) is used to drive the vehicle body (106) to move, and the bracket (109) can adjust the downward extension height to achieve the fixation of the position of the vehicle body (106).

3. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The step-type lifting mechanism comprises a bottom frame (1), a first servo motor (2), a lead screw lift (3), a linear guide rail (4), a lifting pulley assembly (5), a first step assembly (6), a second step assembly (7) and a third step assembly (8); The bottom frame (1) is installed at the bottom of the groove of the hollow AGV vehicle, and a first step assembly (6), a second step assembly (7) and a third step assembly (8) are coaxially sleeved in sequence from the outside to the inside. The bottom frame (1) and the first step assembly (6), the first step assembly (6) and the second step assembly (7), and the second step assembly (7) and the third step assembly (8) are respectively slidably connected by vertically arranged linear guide rails (4); the first servo motor (2) is horizontally arranged and extends from the bottom of the bottom frame (1), and the working end is connected to a vertical screw lift (3), and the working end of the screw lift (3) is connected to the bottom of the first step assembly (6); The lifting pulley assembly (5) comprises a first fixed pulley, a second fixed pulley, a first rope and a second rope; the first step assembly (6) is provided with a first fixed pulley at the top, one end of the first rope is connected to the top of the bottom frame (1), and the other end is connected to the bottom of the second step assembly (7) after passing through the first fixed pulley; the second step assembly (7) is provided with a second fixed pulley at the top, one end of the second rope is connected to the top of the first step assembly (6), and the other end is connected to the bottom of the third step assembly (8) after passing through the second fixed pulley; when the first step assembly (6) is lifted or lowered under the action of the screw lift (3), the second step assembly (7) and the third step assembly (8) can be lifted or lowered synchronously under the action of the lifting pulley assembly (5).

4. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The Z-direction moving unit (12) comprises a fourth servo motor (30), a coupling (31) and a third ball screw (32); the active end of the fourth servo motor (30) is connected to the third ball screw (32) arranged along the Z-axis direction through the coupling (31), and the active end of the third ball screw (32) is connected to the Y-direction moving unit (11).

5. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The Y-direction moving unit (11) comprises a third servo motor (22), a second coupling seat (23), a second linear rolling guide rail (24), a second ball screw (25), a Y-axis base (26), a Y-axis carriage (27), a second dynamic torque sensor (28) and a second end plate (29); two second linear rolling guide rails (24) are arranged parallel to the Y-axis direction on the top of the Y-axis base (26); the Y-axis carriage (27) is slidably connected to the two second linear rolling guide rails (24); the third servo motor (22) is fixed The second ball screw (25) is fixed on the Y-axis base (26), and the action end is connected to one end of the second ball screw (25) through the second coupling seat (23), and the other end of the second ball screw (25) is fixed to the Y-axis base (26) through the second end plate (29); the second ball screw (25) is arranged along the Y-axis direction, and a second dynamic torque sensor (28) is arranged on it, and the action end is connected to the Y-axis carriage (27); the second ball screw (25) is driven to rotate by the third servo motor (22), so that the Y-axis carriage (27) can be moved along the Y-axis direction.

6. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The X-axis moving unit (10) comprises a second servo motor (14), a first coupling seat (15), a first linear rolling guide rail (16), a first ball screw (17), an X-axis base (18), an X-axis carriage (19), a first dynamic torque sensor (20) and a first end plate (21); two first linear rolling guide rails (16) are arranged parallel to the X-axis direction on the top of the X-axis base (18), and the X-axis carriage (19) is slidably connected to the two first linear rolling guide rails (16); the second servo motor (14) is fixed The first servo motor (14) is fixed on an X-axis base (18), an active end of which is connected to one end of a first ball screw (17) through a first coupling seat (15), and the other end of the first ball screw (17) is fixed to the X-axis base (18) through a first end plate (21); the first ball screw (17) is arranged along the X-axis direction, a first dynamic torque sensor (20) is arranged on the first ball screw (17), and an active end of which is connected to an X-axis carriage (19); the first ball screw (17) is driven to rotate by a second servo motor (14), so that the X-axis carriage (19) can be moved along the X-axis direction.

7. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The three-angle adjustment mechanism comprises a first transverse plate, a second transverse plate and a third transverse plate which are stacked in sequence from bottom to top; the first transverse plate is connected to one side of the X-direction moving unit (10) with an adjustment device (35) capable of changing its length in a horizontal direction, and the other side is hinged to each other, so that the first transverse plate can rotate around the Z axis under the extension and contraction of the adjustment device (35); the second transverse plate is connected to one side of the first transverse plate with an adjustment device (35) capable of changing its length in a vertical direction, and the other side is hinged to each other, so that the second transverse plate can rotate around the X axis under the extension and contraction of the adjustment device (35); the third transverse plate is connected to one side of the second transverse plate with an adjustment device (35) capable of changing its length in a vertical direction, and the other side is hinged to each other, so that the third transverse plate can rotate around the Y axis under the extension and contraction of the adjustment device (35).

8. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 7, characterized in that: The adjustment device (35) comprises a first ear, a second ear, a bolt and a first hand wheel (34); the first ear and the second ear are respectively connected to two adjacent side edges of the plate surface, a bolt passes through the first ear and the second ear, and the first hand wheel (34) is fixed at one end of the bolt.

9. The mobile assembly tool for positioning the finished product on the belly of an aircraft according to claim 1, characterized in that: The lateral ejection mechanism comprises a second hand wheel (36), a lead screw (37) and a push plate (38); two grooves are parallelly provided on the mounting platform (33), and slide rails are respectively installed in the grooves; the bottom of the push plate (38) is slidably connected to the slide rail, the top is higher than the mounting platform (33), and the outer side is connected to the second hand wheel (36) through the lead screw (37); the second hand wheel (36) can be operated to drive through the lead screw (37) to push the push plate (38) to push the finished product out of the mounting platform (33) laterally.

10. A control method for a mobile assembly tool for positioning a finished product on the belly of an aircraft using any one of claims 1 to 9, characterized in that: The details are as follows: The hollow AGV vehicle is controlled to move to a designated position on the side of the aircraft, the body is fixed by a bracket (109) at the bottom of the hollow AGV vehicle, and the finished part is fixed on the mounting platform (33) by a tool; the hollow AGV vehicle is moved to the position on the belly of the aircraft where the finished part is to be installed, and the body is fixed by a bracket (109) at the bottom of the hollow AGV vehicle; the first servo motor (2) of the step-type lifting mechanism is started, and the step-type lifting mechanism is controlled to rise to a designated height position through the transmission action of a screw lifter (3), a linear guide rail (4) and a lifting pulley assembly (5); and the Z-direction moving unit (12), the Y-direction moving unit (11), the X-direction moving unit (10) and the The three-angle adjustment mechanism adjusts the position of the finished part on the X-axis, Y-axis and Z-axis, so that the finished part is aligned with the position of the aircraft belly cover so that it can pass through the cover; the finished part is raised to a specified height position through the cover by means of a stepped lifting mechanism and a Z-direction moving unit (12); the finished part is pushed to a specified position along the wingspan direction by means of a lateral pushing mechanism; the lateral pushing mechanism, the three-angle adjustment mechanism, the X-direction moving unit (10), the Y-direction moving unit (11), the Z-direction moving unit (12) and the stepped lifting mechanism are sequentially retracted to the initial position, the hollow AGV vehicle is moved to the specified position on the side of the aircraft, and the body is fixed by means of a bracket (109) at the bottom of the hollow AGV vehicle.

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