Large thermoplastic composite machine body assembling device and using method thereof

Abstract

The invention discloses a large thermoplastic composite machine body assembling device and a using method thereof.The assembling device comprises two sets of elevated sliding rail assemblies, two sets of movable crown blocks, an AGV, four sets of barrel shape-preserving frames, a photogrammetry system and two sets of numerical control positioning systems, and the two sets of elevated sliding rail assemblies are symmetrically arranged at a certain interval between the two sets of elevated sliding rail assemblies; an AGV can pass through the middle, the two sets of movable crown blocks stretch across the tops of the two sets of elevated sliding rail assemblies side by side, the two sets of numerical control positioning systems are correspondingly arranged below the two sets of movable crown blocks, the barrel shape-preserving frame can fix one half of a thermoplastic composite machine body barrel, and a set of zero point positioning system is arranged on the upper end face of the barrel shape-preserving frame. The lower surface of the lower end of the machine body is provided with a set of ball head assembly, the machine body cylinder capable of being provided with the half thermoplastic composite material is fixed to the movable crown block, the lower surface of the lower end of the machine body is provided with a set of ball head assembly, the machine body cylinder capable of being provided with the half thermoplastic composite material is fixed to the AGV, the upper surface of the lower end of the machine body is provided with a set of ball head assembly, and the machine body cylinder capable of being provided with the half thermoplastic composite material is fixed to the numerical control positioning system. The technical scheme provided by the invention can be directly popularized to the technical field of mounting and lifting of aircraft floors of different sizes and types in the aeronautical manufacturing industry.

Description

Technical Field

[0001] The present invention relates to, but is not limited to, the technical field of large composite fuselage assembly in the aviation manufacturing industry, and in particular to a large thermoplastic composite fuselage assembly device and a method for using the same. Background Art

[0002] Advanced composite materials play an irreplaceable role in reducing structural weight and improving economy and reliability. Currently, thermosetting composite materials are widely used in aircraft at home and abroad, including wings, fuselages and other major load-bearing components.

[0003] However, thermosetting composite materials are usually produced by autoclaves, which takes a long time to form, and have strict requirements on material transportation, storage, process preparation, and implementation, so the production cost is relatively high; there are also problems such as difficulty in recycling and poor environmental protection. In addition, thermosetting composite materials are sensitive to impact, and the impact on structural performance should be considered during design and use. Summary of the invention

[0004] Purpose of the present invention: In order to solve the above technical problems, the embodiments of the present invention provide a large-scale thermoplastic composite fuselage assembly device and a method for using the same, so as to solve the problems that the thermosetting composite materials commonly used in the current fuselage structure have high production costs, are sensitive to impacts, are difficult to recycle, and have poor environmental protection.

[0005] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides a large-scale thermoplastic composite fuselage assembly device, comprising: two sets of elevated slide rail assemblies 1, a mobile crane 2, an AGV vehicle 3, four sets of barrel conformal frames 4, a numerical control positioning system 6, and a control system 8 respectively connected to the mobile crane 2 and the numerical control positioning system 6;

[0006] The two groups of elevated rail assemblies 1 are arranged parallel and symmetrically at a preset interval, the top longitudinal beams of the two groups of elevated rail assemblies 1 are parallel and are arranged as slider rail cabinets, the preset interval between the two groups of elevated rail assemblies 1 is used for the AGV vehicle 3 to pass through, the mobile crane 2 is arranged side by side across the top longitudinal beams of the two groups of elevated rail assemblies 1, and is fixedly connected to the slider of the top longitudinal beam, and is used to control the mobile crane 2 to slide along the top longitudinal beams of the two groups of elevated rail assemblies 1 through the control system 8; the CNC positioning system 6 is fixedly arranged directly below the mobile crane 2;

[0007] Each of the barrel conformal frames 4 is used to fix the half thermoplastic composite fuselage barrel 7, and each barrel conformal frame 4 has two installation forms: it is used to install the half thermoplastic composite fuselage barrel 7 with its opening facing upward through the barrel conformal frame 4 of the first installation form, and move the barrel conformal frame 4 of the first installation form through the AGV vehicle 3 and connect it to the numerical control positioning system 6, and install the half thermoplastic composite fuselage barrel 7 with its opening facing downward through the barrel conformal frame 4 of the second installation form, and move the barrel conformal frame 4 of the second installation form to the top of the barrel conformal frame 4 of the first installation form through the mobile crane 2, so as to implement the docking of the two half thermoplastic composite fuselage barrels 7;

[0008] The control system 8 is used to install and move the second installation form of the barrel conformal frame 4 and the half thermoplastic composite fuselage barrel 7 with the opening facing downward by controlling the movement of the mobile crane 2 along the top longitudinal beams of the two sets of elevated slide rail assemblies 1; and to control the multi-degree-of-freedom movement of the numerical control positioning system 6 through the position feedback of the half thermoplastic composite fuselage barrel 7 placed relatively up and down through the numerical control positioning system 6, so as to achieve the docking of the two half thermoplastic composite fuselage barrels 7; after the docking is completed, a section of the thermoplastic composite fuselage barrel 7 is fixedly installed on the AGV vehicle 3 through the barrel conformal frame 4 of the first installation form, and the entire barrel section is transported to the next station.

[0009] Optionally, in the large-scale thermoplastic composite fuselage assembly device as described above,

[0010] The two groups of elevated rail assemblies 1 are configured as two identical elevated rails 11 with symmetrical structures, and the two groups of elevated rail assemblies 1 are symmetrically fixedly installed on the ground; a longitudinal beam 12 is fixedly installed on the top of each elevated rail 11 of each group, for respectively installing a rail structure 13, and a plurality of sliders 14 are provided on the rail structure 13, and four sliders 14 are correspondingly connected through the four corner legs thereof, and a driving assembly 15 is fixedly installed on some of the sliders 14;

[0011] The control system 8 is connected to the movable overhead travelling vehicle 2 via the driving assembly 15 , and is used to drive the slider 14 and the movable overhead travelling vehicle 2 to move longitudinally along the slide rail structure 13 by controlling the driving assembly 15 .

[0012] Optionally, in the large-scale thermoplastic composite fuselage assembly device as described above, the mobile crane 2 is a square table-shaped truss structure, and the four legs 21 at the four corners are respectively connected to the four sliders 14 on the elevated slide rail assembly 1, and one of the legs 21 can accommodate the drive assembly 15;

[0013] Four ball head structures 22 are provided at the four corners of the lower end surface of the horizontal truss of the movable overhead crane 2 for quickly fixing and installing the zero point locator 43 on the top of the cylinder profile retaining frame 4 of the second installation form.

[0014] Optionally, in the large-scale thermoplastic composite fuselage assembly device as described above,

[0015] The barrel conformal frame 4 comprises an adapter frame 41 with an isosceles trapezoidal cross section and a barrel inner and outer conformal frame 42 fixedly mounted inside the adapter frame 41, four zero point locators 43 are respectively arranged at the four corners of the first end face of the adapter frame located on the short side of the trapezoid, and the end face located on the long side forms a bilaterally symmetrical boss structure, and the second end faces of the two side boss structures at the four corners close to the short side are provided with a first ball head assembly 46, and the third end faces of the two side boss structures at the four corners located on the long side are provided with a second ball head assembly 44;

[0016] The inner and outer shape-keeping frames 42 of the barrel are arrays of multi-point array annular suction cup structures 45, which are used to keep the shape of the inner and outer surfaces of the front and rear ends and the middle position of the fuselage barrel respectively.

[0017] Optionally, in the large-scale thermoplastic composite fuselage assembly device as described above,

[0018] The barrel conformal frame 4 of the first installation form is used to install the half thermoplastic composite fuselage barrel 7 with its opening facing upward, and is fixedly connected to the top of the AGV vehicle 3 through the zero point locators provided at the four corners of the bottom of the barrel conformal frame 4 of the first installation form, and the barrel conformal frame 4 and the half thermoplastic composite fuselage barrel 7 with its opening facing upward are moved to the top of the numerical control positioning system 6 through the AGV vehicle 3, and are fixedly connected to the numerical control positioning system 6 through the first ball head assembly provided on the barrel conformal frame 4;

[0019] The second installation form of the cylinder conformal frame 4 is used to install the half thermoplastic composite fuselage cylinder 7 with its opening facing downward. After being fixedly connected to the AGV vehicle 3 through the second ball head assembly arranged on the second installation form of the cylinder conformal frame 4, the zero point locator arranged on the top of the second installation form of the cylinder conformal frame 4 is fixedly connected to the bottom of the mobile overhead crane 2. After evacuating the AGV vehicle 3, the second installation form of the cylinder conformal frame 4 and the half thermoplastic composite fuselage cylinder 7 with its opening facing downward are moved to above the first installation form of the cylinder conformal frame 4 and the half thermoplastic composite fuselage cylinder 7 with its opening facing upward installed by the mobile overhead crane 2.

[0020] Optionally, in a large-scale thermoplastic composite fuselage assembly device as described above, the AGV vehicle 3 is configured with three sets of transfer brackets, which are: a transfer bracket 31 provided with a ball socket structure 34 corresponding to the second ball head assembly 44 of the cylinder conformal frame 4, a transfer bracket 32 ​​provided with a ball head structure 35 corresponding to the zero point locator 43 of the cylinder conformal frame 4, and a transfer bracket 33 provided with a ball head structure corresponding to the overall fuselage structure after docking.

[0021] Optionally, in the large-scale thermoplastic composite fuselage assembly device as described above, it specifically comprises: two sets of mobile overhead cranes 2, four sets of barrel conformal frames 4, and two sets of CNC positioning systems 6;

[0022] After completing the docking of the two halves of the thermoplastic composite fuselage barrel 7, a mobile overhead crane 2, two sets of barrel conformal frames 4 and a set of CNC positioning system 6 are used to position and place one section of the thermoplastic composite fuselage barrel 7; another mobile overhead crane 2, another two sets of barrel conformal frames 4 and another set of CNC positioning system 6 are used to position and place the other section of the thermoplastic composite fuselage barrel 7; and the control system 8 controls the two mobile overhead cranes 2 and the two sets of CNC positioning systems 6 to achieve the end-to-end docking of the two sections of the thermoplastic composite fuselage barrel 7.

[0023] Optionally, the large-scale thermoplastic composite fuselage assembly device as described above further includes: a photogrammetry system 5 connected to the control system 8, for recording the docking process by video and feeding back to the control system 8;

[0024] The control system 8 is also used to comprehensively control the mobile crane 2 and the numerical control positioning system 6 based on the position and posture information of each thermoplastic composite fuselage barrel 7 during the docking process fed back by the photogrammetry system 5.

[0025] In a second aspect, an embodiment of the present invention further provides a method for using a large-scale thermoplastic composite fuselage assembly device, using a large-scale thermoplastic composite fuselage assembly device as described in any one of the above items to perform a docking assembly method on a plurality of half thermoplastic composite fuselage barrels 7, the method comprising the following steps:

[0026] Step 1, four half-petal thermoplastic composite fuselage barrels 7 with marking points are respectively adsorbed on the barrel inner and outer conformal frames 42 of four sets of barrel conformal frames 4 for conformal maintenance;

[0027] Step 2, fix the transfer bracket 32 ​​with the ball head 35 on the AGV vehicle, open the barrel conformal frame of the half thermoplastic composite fuselage barrel 7 upward, fix it on the ball head 35 through the zero point locator, drive the AGV vehicle 3 to transport the barrel conformal frame with the half thermoplastic composite fuselage barrel 7 to the top of a set of CNC positioning system 6, and fix it with the ball socket of the CNC positioning system 6;

[0028] Step 3, drive a mobile crane 2 to move outside the area of ​​the numerical control positioning system 6, fix the transfer bracket 31 with the ball socket 34 on the AGV vehicle 3, place the cylinder conformal frame 4 with the half thermoplastic composite fuselage cylinder 7 with its opening facing downward on the ball socket 34, drive the AGV vehicle 3 to transport the cylinder conformal frame 4 with the half thermoplastic composite fuselage cylinder 7 to the ball head structure 22 of the mobile crane 2 outside the area of ​​the numerical control positioning system 6, and drive the mobile crane 2 back to the specified position in the area of ​​the numerical control positioning system 6;

[0029] Step 4, after adjusting the position of the butt joint surfaces of the two half thermoplastic composite fuselage barrels 7 through the control system 8, the butt joint is realized to form a barrel section structure;

[0030] Step 5, repeat steps 2-4 to dock and assemble another barrel segment on the mobile overhead travelling crane 2 and the numerical control positioning system 6;

[0031] Step 6, after adjusting the position of the butt joint surfaces of the two barrel sections through the control system 8, the two fuselage barrel sections are butt-jointed and welded to form the overall fuselage structure;

[0032] Step 7, drive the mobile crane 2 to drive the entire fuselage structure to leave the area of ​​the numerical control positioning system 6, and use the AGV vehicle 3 to transport the assembled fuselage to the next station for the next process.

[0033] Beneficial effects of the present invention: The embodiment of the present invention provides a large-scale thermoplastic composite fuselage assembly device and a method of using the same. The fuselage assembly device provided by the embodiment of the present invention is a multifunctional device for assembling a thermoplastic composite fuselage that integrates multiple positioning, shape preservation, and posture adjustment. In the embodiment of the present invention, a set of AGV vehicles combined with a transfer bracket can realize the rapid fixation, transportation, and loading and unloading of barrel segments of various specifications. A specific dot matrix suction cup, a "J"-shaped frame combined with multiple groups of positioning ball heads and ball socket structures are used to formulate a universal barrel shape-preserving frame that can realize the shape preservation of thermoplastic composite barrel segments and accurate and rapid installation on various devices. The device is combined with assembly process steps to realize the assembly of large-scale thermoplastic composite multi-petal fuselage barrel segments, and a highly automated assembly process can be realized. In addition, the fuselage assembly device can be directly extended to the technical field of installation and lifting of aircraft floors of different sizes and types in the aviation manufacturing industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0035] Figure 1 A schematic diagram of the overall structure of a large-scale thermoplastic composite fuselage assembly device provided by an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A schematic diagram of the assembly relationship between the overhead slide rail assembly and the mobile overhead travelling crane in the large thermoplastic composite fuselage assembly device provided in the illustrated embodiment;

[0037] Figure 3 for Figure 1 A schematic structural diagram of a barrel conforming frame and a barrel with an upward opening in a second installation form in a large thermoplastic composite fuselage assembly device provided by the illustrated embodiment;

[0038] Figure 4 for Figure 1 A schematic structural diagram of a barrel conforming frame and a downwardly opening barrel of a first installation form in a large thermoplastic composite fuselage assembly device provided by the illustrated embodiment;

[0039] Figure 5 for Figure 3 and Figure 4 A schematic diagram of a docking process of two fuselage barrels installed by barrel conforming frames of first and second installation forms provided in the illustrated embodiment to achieve docking;

[0040] Figure 6 for Figure 3 and Figure 4 A schematic diagram of the structure of two fuselage barrels installed by the barrel conforming frames of the first and second installation forms provided in the illustrated embodiment after completion of docking;

[0041] Figure 7 for Figure 1 The illustrated embodiment provides a schematic diagram of the installation structure of a barrel shape retaining frame on a numerically controlled positioning system in a large-scale thermoplastic composite fuselage assembly device.

[0042] Description of reference numerals:

[0043] 1 overhead slide rail assembly; 11 overhead slide rail; 12 longitudinal beam; 13 slide rail structure; 14 slider; 15 drive assembly; 2 mobile crane; 21 support leg; 22 ball head structure; 3 AGV vehicle; 31 transfer bracket; 32 transfer bracket; 33 transfer bracket; 34 ball socket structure; 35 ball head structure; 4 cylinder conformal frame; 41 transfer frame; 42 cylinder internal and external conformal frame; 43 zero point locator; 44 second ball head assembly; 45 annular suction cup structure; 46 first ball head assembly; 5 photogrammetry system; 6 CNC positioning system; 7 half thermoplastic composite fuselage cylinder; 8 control system. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0045] As described in the above background technology, thermosetting composite materials are widely used in fuselage structures in aviation manufacturing. However, thermosetting composite materials have relatively high production costs, are relatively sensitive to impact, and have problems such as difficulty in recycling and poor environmental protection.

[0046] In response to the above problems, considering that thermoplastic composites have certain advantages in recycling and their cost is nearly 30% lower than that of thermosetting composites, they have gradually received attention in recent years. The application of thermoplastic composites in aircraft structures can shorten the manufacturing cycle of parts, improve the impact resistance of the structure, reduce the weight of the structure, and reduce the production and use costs of aircraft. Based on the advantages of thermoplastic composites, high-strength, lightweight, and recyclable thermoplastic composites are considered as a means to achieve future sustainable aviation, but research in this field is still blank.

[0047] In order to carry out the research on the manufacturing technology of the full-size barrel section structure of the thermoplastic composite fuselage, the embodiment of the present invention provides a large-scale thermoplastic composite fuselage assembly device and its use method. By developing a specific fixture to fix the fuselage shell, and adopting advanced and rapid detection means to ensure high precision in the process of assembly, it is urgent to formulate devices and methods for the upper and lower parts of the upper and lower parts, posture adjustment, docking, and welding.

[0048] The present invention provides the following specific embodiments which can be combined with each other. The same or similar concepts or processes may not be described in detail in some embodiments.

[0049] Figure 1 A schematic diagram of the overall structure of a large-scale thermoplastic composite fuselage assembly device provided by an embodiment of the present invention; Figure 2 for Figure 1 The embodiment shown is a schematic diagram of the assembly relationship between the overhead rail assembly and the mobile overhead travelling crane in the large thermoplastic composite fuselage assembly device. Figure 1 and Figure 2 As shown, the main structure of the large-scale thermoplastic composite fuselage assembly device provided by the embodiment of the present invention includes: two groups of elevated slide rail assemblies 1, a mobile overhead crane 2, an AGV vehicle 3, four groups of cylinder conformal frames 4, a CNC positioning system 6, and a control system 8 respectively connected to the mobile overhead crane 2 and the CNC positioning system 6.

[0050] like Figure 1 and Figure 2As shown, the two groups of elevated rail assemblies 1 in the embodiment of the present invention are arranged parallel and symmetrically with a preset spacing, the top longitudinal beams of the two groups of elevated rail assemblies 1 are parallel and are set as slider rail cabinets, the preset spacing between the two groups of elevated rail assemblies 1 is used for the AGV vehicle 3 to pass through, and the mobile crane 2 is arranged side by side across the top longitudinal beams of the two groups of elevated rail assemblies 1 and is fixedly connected to the sliders of the top longitudinal beams, and is used to control the mobile crane 2 to slide along the top longitudinal beams of the two groups of elevated rail assemblies 1 through the control system 8. The numerical control positioning system 6 in the embodiment of the present invention is fixedly set directly below the mobile crane 2.

[0051] Figure 3 for Figure 1 A schematic structural diagram of a barrel conforming frame and a barrel with an upward opening in a second installation form in a large thermoplastic composite fuselage assembly device provided by the illustrated embodiment; Figure 4 for Figure 1 The embodiment shown is a schematic diagram of the structure of a first installation form of a barrel shape retaining frame and a barrel body with an opening facing downward in a large thermoplastic composite fuselage assembly device. Figure 1 , Figure 3 and Figure 4 In the embodiment of the present invention, each cylinder conformal frame 4 is used to fix the half thermoplastic composite fuselage cylinder 7, and each cylinder conformal frame 4 has two installation forms: the cylinder conformal frame 4 is used to install the half thermoplastic composite fuselage cylinder 7 with the opening facing upward through the first installation form, as shown in FIG. Figure 4 As shown, the first installation form of the barrel conformal frame 4 is moved by the AGV vehicle 3 and connected to the numerical control positioning system 6, and the second installation form of the barrel conformal frame 4 is used to install the thermoplastic composite fuselage barrel 7 with the opening facing downward, as shown in FIG. Figure 3 As shown, the barrel conformal frame 4 of the second installation form is moved to the top of the barrel conformal frame 4 of the first installation form by moving the overhead crane 2 to implement the docking of the two half thermoplastic composite fuselage barrels 7; Figure 5 for Figure 3 and Figure 4 A schematic diagram of a docking process of two fuselage barrels installed by barrel conforming frames of first and second installation forms provided in the illustrated embodiment to achieve docking; Figure 6 for Figure 3 and Figure 4 The illustrated embodiment is a schematic structural diagram of two fuselage barrels installed by barrel conforming frames of the first and second installation forms after docking.

[0052] The control system 8 in the embodiment of the present invention is used to install and move the second installation form of the barrel conformal frame 4 and the half thermoplastic composite fuselage barrel 7 with the opening facing downward by controlling the movement of the mobile crane 2 along the top longitudinal beams of the two sets of elevated slide rail assemblies 1; and to control the multi-degree-of-freedom movement of the numerical control positioning system 6 through the position feedback of the half thermoplastic composite fuselage barrel 7 placed relatively up and down through the numerical control positioning system 6, so as to achieve the docking of the two half thermoplastic composite fuselage barrels 7; after the docking is completed, a section of the thermoplastic composite fuselage barrel 7 is fixedly installed on the AGV vehicle 3 through the barrel conformal frame 4 of the first installation form, and the entire barrel section is transported to the next station.

[0053] In one implementation of the embodiment of the present invention, see Figure 1 , Figure 2 The two groups of elevated slide rail assemblies 1 are, for example, two identical elevated slide rails 11 with symmetrical structures, and the two groups of elevated slide rail assemblies 1 are symmetrically fixedly installed on the ground; a longitudinal beam 12 is fixedly arranged on the top of each elevated slide rail 11 of each group, and is used to respectively install a slide rail structure 13, and a plurality of sliders 14 are arranged on the slide rail structure 13, and four sliders 14 are correspondingly connected through its four corner legs, and some sliders 14 are fixedly installed with a driving assembly 15.

[0054] In this implementation, the control system 8 is connected to the movable overhead travelling vehicle 2 via the driving assembly 15 , and is used to drive the slider 14 and the movable overhead travelling vehicle 2 to move longitudinally along the slide rail structure 13 by controlling the driving assembly 15 .

[0055] In one implementation of the embodiment of the present invention, see Figure 1 , Figure 2 The mobile crane 2 is a square table-shaped truss structure, and the four legs 21 at the four corners are respectively connected to the four sliders 14 on the overhead slide rail assembly 1, and the driving assembly 15 can be accommodated inside one of the legs 21.

[0056] In this implementation, four ball head structures 22 are provided at the four corners of the lower end surface of the horizontal truss of the mobile crane 2 for quickly fixing and installing the zero point locator 43 on the top of the cylinder profile retaining frame 4 of the second installation form.

[0057] In one implementation of the embodiment of the present invention, see Figure 3 , Figure 4 The cylinder conformal frame 4 includes an adapter frame 41 with an isosceles trapezoidal cross-section and an inner and outer cylinder conformal frame 42 fixedly installed inside the adapter frame 41, and four zero point locators 43 are respectively arranged at the four corners of the first end face of the adapter frame 41 on the short side of the trapezoid, and the end face on the long side forms a bilaterally symmetrical boss structure, and the second end faces on the four corners of the boss structure on both sides close to the short side are provided with a first ball head assembly 46, and the third end faces on the four corners of the boss structure on both sides on the long side are provided with a second ball head assembly 44.

[0058] In this implementation, the inner and outer shape-keeping frames 42 of the barrel are arrays of multi-point array annular suction cup structures 45, which are used to respectively keep the shape of the inner and outer surfaces of the front and rear ends and the middle position of the fuselage barrel.

[0059] This implementation is described in the specific embodiment. Figure 5 , Figure 7 On the one hand, the first installation form of the barrel conformal frame 4 is used to install the half thermoplastic composite fuselage barrel 7 with its opening facing upward, and is fixedly connected to the top of the AGV vehicle 3 through the zero point locators 43 arranged at the four corners of the bottom of the barrel conformal frame 4 of the first installation form. The barrel conformal frame 4 and the half thermoplastic composite fuselage barrel 7 with its opening facing upward are moved to the top of the CNC positioning system 6 through the AGV vehicle 3, and are fixedly connected to the CNC positioning system 6 through the first ball head assembly 46 arranged on the barrel conformal frame 4.

[0060] See also Figure 3 , Figure 5 On the other hand, the second installation form of the cylinder conformal frame 4 is used to install the half of the thermoplastic composite fuselage cylinder 7 with its opening facing downward. After being fixedly connected to the AGV vehicle 3 through the second ball head assembly 44 provided on the second installation form of the cylinder conformal frame 4, the zero point locator 43 provided on the top of the second installation form of the cylinder conformal frame 4 is fixedly connected to the bottom of the mobile overhead crane 2. After evacuating the AGV vehicle 3, the second installation form of the cylinder conformal frame 4 and the half of the thermoplastic composite fuselage cylinder 7 with its opening facing downward are moved to above the first installation form of the cylinder conformal frame 4 and the half of the thermoplastic composite fuselage cylinder 7 with its opening facing upward installed by the mobile overhead crane 2.

[0061] In one implementation of the embodiment of the present invention, see Figure 5 , Figure 6 The AGV vehicle 3 is equipped with three sets of transfer brackets, which are: a transfer bracket 31 provided with a ball socket structure 34 corresponding to the second ball head assembly 44 of the cylinder conformal frame 4, a transfer bracket 32 ​​provided with a ball head structure 35 corresponding to the zero point locator 43 of the cylinder conformal frame 4, and a transfer bracket 33 provided with a ball head structure corresponding to the overall fuselage structure after docking.

[0062] It should be noted that the large-scale thermoplastic composite fuselage assembly device provided in the embodiment of the present invention is specifically configured with: two sets of mobile overhead cranes 2 , four sets of cylinder conformal frames 4 , and two sets of CNC positioning systems 6 .

[0063] like Figure 5 and Figure 6 The docking process, combined with Figure 1 and Figure 7As shown, after the two halves of the thermoplastic composite fuselage barrel 7 are butt-jointed, one section of the thermoplastic composite fuselage barrel 7 is positioned and placed using a mobile overhead crane 2, two sets of barrel conformal frames 4 and a set of numerical control positioning system 6; another section of the thermoplastic composite fuselage barrel 7 is positioned and placed using another mobile overhead crane 2, another two sets of barrel conformal frames 4 and another set of numerical control positioning system 6; and the two mobile overhead cranes 2 and the two sets of numerical control positioning systems 6 are controlled by a control system 8 to achieve the end-to-end butt joint of the two sections of the thermoplastic composite fuselage barrel 7.

[0064] Furthermore, the large-scale thermoplastic composite fuselage assembly device provided in the embodiment of the present invention may also include: a photogrammetry system 5 connected to the control system 8, which is used to record the docking process by video and feed back to the control system 8.

[0065] Correspondingly, the control system 8 is also used to comprehensively control the mobile crane 2 and the numerical control positioning system 6 based on the position and posture information of each thermoplastic composite fuselage barrel 7 during the docking process fed back by the photogrammetry system 5.

[0066] Based on the above-mentioned large-scale thermoplastic composite fuselage assembly devices provided in the embodiments of the present invention, the embodiments of the present invention also provide a method for using the large-scale thermoplastic composite fuselage assembly device. The large-scale thermoplastic composite fuselage assembly device provided in any of the above-mentioned embodiments is used to perform a docking assembly method on a plurality of half thermoplastic composite fuselage barrels 7. The assembly method comprises the following steps:

[0067] Step 1, four half-petal thermoplastic composite fuselage barrels 7 with marking points are respectively adsorbed on the barrel inner and outer conformal frames 42 of four sets of barrel conformal frames 4 for conformal maintenance;

[0068] Step 2, fix the transfer bracket 32 ​​with the ball head 35 on the AGV vehicle, open the barrel conformal frame of the half thermoplastic composite fuselage barrel 7 upward, fix it on the ball head 35 through the zero point locator, drive the AGV vehicle 3 to transport the barrel conformal frame with the half thermoplastic composite fuselage barrel 7 to the top of a set of CNC positioning system 6, and fix it with the ball socket of the CNC positioning system 6;

[0069] Step 3, drive a mobile crane 2 to move outside the area of ​​the numerical control positioning system 6, fix the transfer bracket 31 with the ball socket 34 on the AGV vehicle 3, place the cylinder conformal frame 4 with the half thermoplastic composite fuselage cylinder 7 with its opening facing downward on the ball socket 34, drive the AGV vehicle 3 to transport the cylinder conformal frame 4 with the half thermoplastic composite fuselage cylinder 7 to the ball head structure 22 of the mobile crane 2 outside the area of ​​the numerical control positioning system 6, and drive the mobile crane 2 back to the specified position in the area of ​​the numerical control positioning system 6;

[0070] Step 4, after adjusting the position of the butt joint surfaces of the two half thermoplastic composite fuselage barrels 7 through the control system 8, the butt joint is realized to form a barrel section structure;

[0071] Step 5, repeat steps 2-4 to dock and assemble another barrel segment on the mobile overhead travelling crane 2 and the numerical control positioning system 6;

[0072] Step 6, after adjusting the position of the butt joint surfaces of the two barrel sections through the control system 8, the two fuselage barrel sections are butt-jointed and welded to form the overall fuselage structure;

[0073] Step 7, drive the mobile crane 2 to drive the entire fuselage structure to leave the area of ​​the numerical control positioning system 6, and use the AGV vehicle 3 to transport the assembled fuselage to the next station for the next process.

[0074] The embodiment of the present invention provides a large-scale thermoplastic composite fuselage assembly device and a method for using the same. The fuselage assembly device provided by the embodiment of the present invention is a multifunctional device for assembling a thermoplastic composite fuselage that integrates multiple positioning, shape preservation, and posture adjustment. In the embodiment of the present invention, a set of AGV vehicles combined with a transfer bracket can realize the rapid fixation, transportation, and loading and unloading of barrel segments of various specifications. A specific dot matrix suction cup, an "X"-shaped frame combined with multiple groups of positioning ball heads and ball socket structures are used to formulate a universal barrel shape-preserving frame that can realize the shape preservation of thermoplastic composite barrel segments and accurate and rapid installation on various devices. The device is combined with assembly process steps to realize the assembly of large-scale thermoplastic composite multi-petal fuselage barrel segments, and a highly automated assembly process can be realized. In addition, the fuselage assembly device can be directly extended to the technical field of installation and lifting of aircraft floors of different sizes and types in the aviation manufacturing industry.

[0075] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A large-scale thermoplastic composite fuselage assembly device, characterized in that: include: Two sets of overhead slide rail assemblies (1), a mobile overhead crane (2), an AGV vehicle (3), four sets of cylinder conformal frames (4), a numerical control positioning system (6), and a control system (8) respectively connected to the mobile overhead crane (2) and the numerical control positioning system (6); The two groups of elevated rail assemblies (1) are arranged parallel and symmetrically at a preset spacing, the top longitudinal beams of the two groups of elevated rail assemblies (1) are parallel and arranged as a slider rail cabinet, the preset spacing between the two groups of elevated rail assemblies (1) is used for the AGV vehicle (3) to pass through, the mobile crane (2) is arranged side by side across the top longitudinal beams of the two groups of elevated rail assemblies (1), and is fixedly connected to the slider of the top longitudinal beam, and is used to control the mobile crane (2) to slide along the top longitudinal beams of the two groups of elevated rail assemblies (1) through the control system (8); the numerical control positioning system (6) is fixedly arranged directly below the mobile crane (2); Each of the barrel conformal frames (4) is used to fix a half thermoplastic composite fuselage barrel (7), and each barrel conformal frame (4) has two installation forms: for installing a half thermoplastic composite fuselage barrel (7) with its opening facing upward through a barrel conformal frame (4) of a first installation form, and moving the barrel conformal frame (4) of the first installation form through an AGV vehicle (3) and connecting it to a numerical control positioning system (6), installing a half thermoplastic composite fuselage barrel (7) with its opening facing downward through a barrel conformal frame (4) of a second installation form, and moving the barrel conformal frame (4) of the second installation form to above the barrel conformal frame (4) of the first installation form through a mobile crane (2) to implement docking of two half thermoplastic composite fuselage barrels (7); The control system (8) is used to install and move the second installation form of the barrel conformal frame (4) and the half thermoplastic composite fuselage barrel (7) with the opening facing downward by controlling the movement of the mobile crane (2) along the top longitudinal beams of the two sets of elevated slide rail assemblies (1); and to control the multi-degree-of-freedom movement of the numerical control positioning system (6) by providing position feedback of the half thermoplastic composite fuselage barrel (7) placed relatively up and down through the numerical control positioning system (6) to achieve docking of the two half thermoplastic composite fuselage barrels (7); after the docking is completed, a section of the thermoplastic composite fuselage barrel (7) is fixedly installed on the AGV vehicle (3) through the first installation form of the barrel conformal frame (4), and the entire barrel section is transported to the next station.

2. A large-scale thermoplastic composite fuselage assembly device according to claim 1, characterized in that: The two groups of elevated slide rail assemblies (1) are configured as two identical elevated slide rails (11) with symmetrical structures. The two groups of elevated slide rail assemblies (1) are symmetrically fixedly installed on the ground. A longitudinal beam (12) is fixedly installed on the top of each elevated slide rail (11) of each group, and is used to respectively install a slide rail structure (13). The slide rail structure (13) is provided with a plurality of sliders (14), and four sliders (14) are correspondingly connected through its four corner legs. Some of the sliders (14) are fixedly installed with a driving assembly (15). The control system (8) is connected to the movable overhead travelling vehicle (2) via a driving component (15), and is used to drive the slider (14) and the movable overhead travelling vehicle (2) to move longitudinally along the slide rail structure (13) by controlling the driving component (15).

3. A large-scale thermoplastic composite fuselage assembly device according to claim 1, characterized in that: The mobile crane (2) is a square table-shaped truss structure, and the four legs (21) at the four corners are respectively connected to the four sliders (14) on the elevated slide rail assembly (1), and one of the legs (21) can accommodate a driving assembly (15); Four ball head structures (22) are provided at the four corners of the lower end surface of the horizontal truss of the movable overhead crane (2) for quickly fixing and installing the zero point locator (43) on the top of the cylinder body retaining frame (4) of the second installation form.

4. A large-scale thermoplastic composite fuselage assembly device according to claim 1, characterized in that: The barrel conformal frame (4) comprises an adapter frame (41) having an isosceles trapezoidal cross section and an inner and outer barrel conformal frame (42) fixedly mounted inside the adapter frame (41); four zero point locators (43) are respectively arranged at the four corners of the first end face of the adapter frame located on the short side of the trapezoid; the end face located on the long side forms a bilaterally symmetrical boss structure; the second end faces close to the short side at the four corners of the boss structures on both sides are provided with a first ball head assembly (46); and the third end faces located on the long side at the four corners of the boss structures on both sides are provided with a second ball head assembly (44); The inner and outer shape-keeping frames (42) of the barrel are array multi-point array type annular suction cup structures (45) used for respectively keeping the shape of the inner and outer surfaces at the front and rear ends and the middle position of the fuselage barrel.

5. A large-scale thermoplastic composite fuselage assembly device according to claim 4, characterized in that: The first installation form of the barrel conforming frame (4) is used to install the half thermoplastic composite fuselage barrel (7) with its opening facing upward, and is fixedly connected to the top of the AGV vehicle (3) through zero point positioners arranged at the four corners of the bottom of the barrel conforming frame (4) of the first installation form, and the barrel conforming frame (4) and the half thermoplastic composite fuselage barrel (7) with its opening facing upward are moved to the top of the numerical control positioning system (6) through the AGV vehicle (3), and are fixedly connected to the numerical control positioning system (6) through a first ball head assembly arranged on the barrel conforming frame (4); The second installation form of the barrel conformal frame (4) is used to install the half thermoplastic composite fuselage barrel (7) with its opening facing downwards. After being fixedly connected to the AGV vehicle (3) by a second ball head assembly arranged on the second installation form of the barrel conformal frame (4), a zero point locator arranged on the top of the second installation form of the barrel conformal frame (4) is fixedly connected to the bottom of the mobile overhead crane (2). After evacuating the AGV vehicle (3), the second installation form of the barrel conformal frame (4) and the half thermoplastic composite fuselage barrel (7) with its opening facing downwards are moved to the top of the first installation form of the barrel conformal frame (4) and the half thermoplastic composite fuselage barrel (7) with its opening facing upwards installed by the mobile overhead crane (2).

6. A large-scale thermoplastic composite fuselage assembly device according to claim 1, characterized in that: The AGV vehicle (3) is equipped with three sets of transfer brackets, which are: a transfer bracket (31) provided with a ball socket structure (34) corresponding to the second ball head assembly (44) of the cylinder conformal frame (4), a transfer bracket (32) provided with a ball head structure (35) corresponding to the zero point locator (43) of the cylinder conformal frame (4), and a transfer bracket (33) provided with a ball head structure corresponding to the overall fuselage structure after docking.

7. A large-scale thermoplastic composite fuselage assembly device according to any one of claims 1 to 6, characterized in that: Specifically include: Two sets of mobile cranes (2), four sets of cylinder shape-conserving frames (4), and two sets of CNC positioning systems (6); After the two sections of the thermoplastic composite fuselage barrel (7) are butt-jointed, one section of the thermoplastic composite fuselage barrel (7) is positioned and placed using a mobile crane (2), two sets of barrel conformal frames (4) and a set of numerical control positioning system (6); another section of the thermoplastic composite fuselage barrel (7) is positioned and placed using another mobile crane (2), two sets of barrel conformal frames (4) and another set of numerical control positioning system (6); and the two sections of the thermoplastic composite fuselage barrel (7) are butt-jointed end to end by controlling the two mobile cranes (2) and the two sets of numerical control positioning systems (6) through a control system (8).

8. A large-scale thermoplastic composite fuselage assembly device according to any one of claims 1 to 6, characterized in that: Also includes: A photogrammetry system (5) connected to the control system (8) is used to record the docking process by video and feed back to the control system (8); The control system (8) is also used to comprehensively control the mobile overhead crane (2) and the numerical control positioning system (6) based on the position and posture information of each thermoplastic composite fuselage barrel (7) during the docking process fed back by the photogrammetry system (5).

9. A method for using a large-scale thermoplastic composite fuselage assembly device, characterized in that: An assembly method for butting a plurality of half thermoplastic composite fuselage barrels (7) using a large-scale thermoplastic composite fuselage assembly device as claimed in any one of claims 1 to 8, the method comprising the following steps: Step 1, four half-petal thermoplastic composite fuselage barrels (7) with marking points are respectively adsorbed on the barrel inner and outer conformal frames (42) of four groups of barrel conformal frames (4) for conformal maintenance; Step 2, fix the transfer bracket (32) with the ball head 35 on the AGV vehicle, open the barrel conformal frame of the half thermoplastic composite fuselage barrel (7) upward, fix it on the ball head 35 through the zero point positioner, drive the AGV vehicle (3) to transport the barrel conformal frame with the half thermoplastic composite fuselage barrel (7) to the top of a set of CNC positioning systems (6), and fix it with the ball socket of the CNC positioning system (6); Step 3, drive a mobile crane (2) to move outside the area of ​​the numerical control positioning system (6), fix the transfer bracket (31) with the ball socket 34 on the AGV vehicle (3), place the cylinder conformal frame (4) of the half thermoplastic composite fuselage cylinder (7) with its opening facing downward on the ball socket 34, drive the AGV vehicle (3) to transport the cylinder conformal frame (4) with the half thermoplastic composite fuselage cylinder (7) to the ball head structure (22) of the mobile crane (2) outside the area of ​​the numerical control positioning system (6) and fix it, and drive the mobile crane (2) back to the specified position in the area of ​​the numerical control positioning system (6); Step 4, adjusting the positions of the butt joint surfaces of the two half thermoplastic composite fuselage barrels (7) by means of a control system (8), thereby achieving butt joint assembly into a barrel section structure; Step 5, repeating steps 2-4, and docking and assembling another barrel section on the mobile overhead travelling crane (2) and the numerical control positioning system (6); Step 6, after adjusting the position of the butt joint surfaces of the two barrel sections through the control system (8), the two barrel sections of the fuselage are butt-jointed and welded to form an integral fuselage structure; Step 7, drive the mobile crane (2) to drive the entire fuselage structure to leave the area of ​​the numerical control positioning system (6), and use the AGV vehicle (3) to transport the assembled fuselage to the next station for the next process.

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