Positioning device and method for automatic positioning positioner for aircraft section supporting joint

Abstract

The invention relates to the technical field of aircraft assembly, and discloses a positioning device and method for an aircraft section supporting connector automatic positioning positioner, the height direction shaft of the positioner is perpendicular to the horizontal plane, and the positioning device for the aircraft section supporting connector automatic positioning positioner comprises a preliminary alignment module and an accurate alignment module; the preliminary alignment module comprises distance sensors, the multiple distance sensors are in communication connection with the positioner, the multiple distance sensors are configured to measure the distance between one face of the shoulder of the ball head and the conical face of the ball socket and output the distance to the positioner so that the positioner can achieve preliminary alignment, and the accurate alignment module comprises a laser transmitter and a position sensor; the position sensor is configured to receive the light source emitted by the laser emitter and output the light source to the positioner so that the positioner can achieve accurate alignment. According to the positioning device of the automatic positioning positioner for the aircraft section support joint, the positioner automatically aligns the position of the ball socket within a certain range, and the quick positioning of the section into the positioner is realized.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft assembly, and in particular to a positioning device and method for an automatic positioning device for an aircraft section support joint. Background Art

[0002] The aircraft section support joint is a kind of tooling that connects the aircraft sections during the assembly process. It is generally used for crane lifting, or used in conjunction with a positioner for aircraft attitude adjustment assembly. During the docking process of the aircraft sections, it is necessary to manually observe the relative position relationship between the ball socket on the support joint and the ball head of the positioner. Only when the ball head and the ball socket are in the same axial direction can the positioner support the ball socket of the support tooling. The assembly process is greatly affected by human factors, and the assembly efficiency is not high.

[0003] The existing method is to install a ladder on the positioner so that workers can stand on the ladder to observe the docking of the ball head of the positioner and the ball socket on the support joint during the segment placement process. However, this method will affect the positioning accuracy of the positioner and even cause the positioner to be deformed or damaged, and the operation process is also unsafe. Therefore, it is urgent to design a new positioning device and method for the automatic positioning of the aircraft segment support joint to improve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a positioning device and method for an automatic positioning device for an aircraft section support joint, so that the positioner can automatically find the ball socket position within a certain range, thereby realizing the rapid positioning of the section.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The positioning device of the automatic positioning device of the aircraft section support joint, the height direction axis of the positioning device is perpendicular to the horizontal plane, including:

[0007] A preliminary alignment module, comprising a distance sensor, a plurality of distance sensors are arranged around the circumference of the ball head on one side of the ball head of the locator facing the ball socket, the plurality of distance sensors are communicatively connected with the locator, and the plurality of distance sensors are configured to measure the distance between one side of the shoulder of the ball head and the conical surface of the ball socket and output the distance to the locator so that the locator can achieve preliminary alignment; and

[0008] A precise alignment module includes a laser emitter and a position sensor. The position sensor is installed in the circular hole of the ball socket and is coaxial with the ball socket. The laser emitter is arranged at the ball head end of the ball head. The position sensor is communicatively connected with the locator. The position sensor is configured to receive the light source emitted by the laser emitter and output it to the locator so that the locator can achieve precise alignment.

[0009] As a preferred solution for the positioning device of the automatic positioning device for the aircraft section support joint, two pairs of distance sensors are provided, wherein one pair of distance sensors is arranged along the heading direction and is symmetrically arranged with respect to the center of the ball head, and the other pair of distance sensors is arranged along the span direction perpendicular to the heading direction and is symmetrically arranged with respect to the center of the ball head.

[0010] The positioning method of the automatic positioning device for the support joint of an aircraft section is applied to the positioning device of the automatic positioning device for the support joint of an aircraft section. The positioning method of the automatic positioning device for the support joint of an aircraft section comprises the following steps:

[0011] Initial alignment adjustment: Several distance sensors on the shoulder of the ball head respectively measure the distance from one side of the shoulder of the ball head to the conical surface of the ball socket, and output the distance information to the positioner, which determines whether there is a deviation, so as to move the positioner so that the ball head is located around the center point of the ball socket;

[0012] Precise alignment and adjustment: The light source emitted by the laser transmitter on the ball head end of the ball head hits the position sensor in the circular hole of the ball socket and outputs the light source information to the locator, which determines whether there is a deviation and moves the locator to align the ball head with the center point of the ball socket.

[0013] As a preferred solution for the positioning method of the automatic positioning device for the aircraft section support joint, in the preliminary alignment and adjustment step, the two pairs of distance sensors respectively measure the distance from one side of the shoulder of the ball head to the conical surface of the ball socket as X1, X2, Y1 and Y2, wherein X1 and X2 are symmetrically arranged in the heading direction and with respect to the center of the ball head, and Y1 and Y2 are symmetrically arranged in the span direction and with respect to the center of the ball head.

[0014] As a preferred solution of the positioning method of the automatic positioning of the aircraft section support joint, in the preliminary alignment adjustment step, the positioning device first determines whether the positioning device deviates from the heading direction in the ball socket through X1 and X2 in the heading direction, and if |X1-X2|>△X (△X is the tolerance value), the positioning device is moved so that |X1-X2|≤△X;

[0015] Then, determine whether the locator is deviated from the socket in the span direction by using Y1 and Y2 in the span direction. If |Y1-Y2|>△Y (△Y is the tolerance value), move the locator so that |Y1-Y2|≤△Y.

[0016] As a preferred solution of the positioning method of the automatic positioning device of the aircraft section support joint, in the preliminary alignment adjustment step, if X1-X2>0, the positioning device moves toward X1 along the heading direction, and if X1-X2<0, the positioning device moves toward X2 along the heading direction;

[0017] If Y1-Y2>0, the positioner moves along the span direction toward Y1, and if Y1-Y2<0, the positioner moves along the span direction toward Y2.

[0018] As a preferred solution for the positioning method of the automatic positioning device for the aircraft section support joint, in the precise alignment and adjustment step, the position sensor is a PSD two-dimensional position sensor, and the PSD two-dimensional position sensor is located at the center point of the ball socket.

[0019] As a preferred solution for the positioning method of the automatic positioning device for the aircraft section support joint, in the precise alignment and adjustment step, the center point of the ball socket is (0, 0), the position sensor receives the light source of the laser transmitter and determines the deviation value (X, Y) between the ball head and the center point of the ball socket and feeds it back to the positioner, determines the movement value (-X, -Y) of the positioner and moves the positioner to align the ball head with the center point of the ball socket.

[0020] As a preferred solution of the positioning method of the automatic positioning device for the aircraft section support joint, in the precise alignment and adjustment step, the alignment deviation of the center point of the ball head and the ball socket is 0.15mm to 0.25mm.

[0021] As a preferred solution of the positioning method of the automatic positioning device for the aircraft section support joint, the area around the center point of the ball socket is covered within the measuring range of the position sensor.

[0022] Beneficial effects of the present invention:

[0023] The present invention provides a positioning device for an automatic positioning device for an aircraft section support joint. First, by adding multiple distance sensors to the ball head of the positioning device, the distance between one side of the shoulder of the ball head and the conical surface of the ball socket is measured by the multiple distance sensors, and the position of the positioning device, i.e., the ball head, is adjusted to achieve preliminary alignment. Then, by adding a laser transmitter to the ball head end of the ball head and adding a position sensor to the ball socket, the position sensor receives the light source of the laser transmitter and outputs it to the positioning device, so that the positioning device can achieve precise alignment, thereby eliminating the need to install a standing ladder on the positioning device, avoiding deformation and damage to the positioning device. When the aircraft section is transferred by the crane, the aircraft section does not need to be moved again, and the positioning device can automatically align and support the aircraft section, thereby accelerating the on-site assembly efficiency and avoiding errors caused by human observation. Among them, the setting of the preliminary alignment module is to enable the light source of the laser reflector on the ball head to be located within the measurement range of the position sensor, and to make more precise adjustments, so that the positioning accuracy of the positioning device can meet the accuracy requirements of the ball head entering the ball socket.

[0024] The invention provides a method for positioning an automatic positioning device for an aircraft section support joint, which enables the positioning device to automatically align and support the aircraft section, thereby speeding up on-site assembly efficiency and avoiding errors caused by human observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 2 is a schematic diagram of the three-dimensional structure of a positioning device of an automatic positioning device for a support joint of an aircraft section according to an embodiment of the present invention;

[0026] Figure 2 is a front view of the ball head and the ball socket in the embodiment of the present invention before preliminary alignment adjustment;

[0027] Figure 3 is along Figure 2 Partial cross-section along line AA;

[0028] Figure 4 is a front view of the ball head and the ball socket after the preliminary alignment adjustment is completed in the embodiment of the present invention;

[0029] Figure 5 is along Figure 4 Partial cross-section along the BB line;

[0030] Figure 6 Schematic diagram of the structure of the light source and position sensor in the embodiment of the present invention Figure 1 ;

[0031] Figure 7 Schematic diagram of the structure of the light source and position sensor in the embodiment of the present invention Figure 2 .

[0032] In the figure:

[0033] 10. ball head; 20. ball socket;

[0034] 1. Distance sensor; 2. Laser transmitter; 3. Position sensor. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0036] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0039] During the docking process of aircraft sections, it is necessary to manually observe the relative position relationship between the ball socket on the support joint and the ball head of the locator. The locator can only support the ball socket of the support tooling when the ball head and the ball socket are in the same axial direction. The assembly process is greatly affected by human factors and the assembly efficiency is not high.

[0040] The existing method is to install a ladder on the positioner so that workers can stand on the ladder to observe the docking condition between the ball head of the positioner and the ball socket on the support joint during the segment placement process. However, this method will affect the positioning accuracy of the positioner and even cause deformation and other damage to the positioner, and the operation process is also unsafe.

[0041] In order to solve the above problems, combined Figure 1 to Figure 7 As shown, this embodiment provides a positioning device for an automatic positioning device for an aircraft section support joint, wherein the height axis of the positioning device is perpendicular to the horizontal plane, and the positioning device for the automatic positioning device for an aircraft section support joint includes a preliminary alignment module and a precise alignment module.

[0042] Furthermore, if Figure 1 As shown, the preliminary alignment module includes a distance sensor 1. A shoulder of the ball head 10 of the locator faces a side of the ball socket 20 and a plurality of distance sensors 1 are arranged around the circumferential direction of the ball head 10. The plurality of distance sensors 1 are communicatively connected with the locator. The plurality of distance sensors 1 are configured to measure the distance between a side of the shoulder of the ball head 10 and the conical surface of the ball socket 20 and output it to the locator so that the locator can achieve preliminary alignment. The precise alignment module includes a laser emitter 2 and a position sensor 3. The position sensor 3 coaxially arranged with the ball socket 20 is installed in the circular hole of the ball socket 20. The laser emitter 2 is arranged at the ball head end of the ball head 10. The position sensor 3 is communicatively connected with the locator. The position sensor 3 is configured to receive the light source emitted by the laser emitter 2 and output it to the locator so that the locator can achieve precise alignment.

[0043] Specifically, two pairs of distance sensors 1 are provided, one pair of distance sensors 1 is provided along the heading direction and arranged symmetrically with the center of the ball head 10 , and the other pair of distance sensors 1 is provided along the span direction perpendicular to the heading direction and arranged symmetrically with the center of the ball head 10 .

[0044] It is understandable that if Figure 2 to Figure 5As shown, first, two pairs of distance sensors 1 are arranged on the shoulder of the ball head 10 of the locator facing the ball socket 20, one pair is arranged along the heading direction, and the other pair is arranged along the span direction, and the vertical distance between each distance sensor 1 and the axial direction of the ball head 10 is the same. After the aircraft section is controlled by the laser tracker and lifted and transported to the upper part of the locator by the crane, the two distance sensors 1 in the heading direction first determine whether the locator deviates from the heading direction in the ball socket 20. The ball head 10 of the locator can be preliminarily moved so that it is around the center point of the ball socket 20 in the heading direction, that is, in the span direction, the deviation value between the center of the ball head 10 of the locator and the center of the ball socket 20 is not greater than △X (△X is the tolerance value, and the deviation value from the center of the ball socket 20 is affected by △X. The smaller the △X value, the closer to the center of the ball socket 20). Similarly, the two distance sensors 1 in the span direction determine whether the locator is deviated from the ball socket 20 in the span direction, and the ball head 10 of the locator is moved so that it is around the center point of the ball socket 20 in the span direction to achieve preliminary alignment.

[0045] like Figure 1 , Figure 6 and Figure 7 As shown, then, a laser emitter 2 is added to the ball end of the ball head 10. Since the design of the locator itself requires the verticality of the height axis and the floor surface, the emitted light source is also vertical to the ground. A position sensor 3 is added to the ball socket 20. The position sensor 3 receives the light source of the laser emitter 2 and outputs it to the locator, so that the locator can be accurately aligned. Therefore, there is no need to install a standing ladder on the locator, which avoids deformation and damage of the locator. When the aircraft section is transferred by the crane, the aircraft section does not need to be moved again. The locator can automatically align and support the aircraft section, which speeds up the on-site assembly efficiency and avoids errors caused by human observation.

[0046] Among them, the preliminary alignment module is set to enable the light source of the laser reflector on the ball head 10 to be located within the measurement range of the position sensor 3, and to make more precise adjustments so that the positioning accuracy of the positioning device can meet the accuracy requirements of the ball head 10 entering the ball socket 20.

[0047] In addition, combined Figure 1 to Figure 7 As shown, this embodiment also provides a method for positioning an automatic positioning device for an aircraft section support joint, which is applied to the positioning device for the automatic positioning device for an aircraft section support joint, and includes the following steps:

[0048] Initial alignment adjustment: Several distance sensors 1 on the shoulder of the ball head 10 respectively measure the distance from one side of the shoulder of the ball head 10 to the conical surface of the ball socket 20, and output the distance information to the positioner, which determines whether there is a deviation, so as to move the positioner so that the ball head 10 is located around the center point of the ball socket 20;

[0049] Precise alignment and adjustment: The light source emitted by the laser transmitter 2 on the ball head end of the ball head 10 hits the position sensor 3 in the circular hole of the ball socket 20, and outputs the light source information to the positioner, which determines whether there is a deviation and moves the positioner to align the center point of the ball head 10 with the ball socket 20.

[0050] Specifically, Figure 2 to Figure 5 As shown, in the preliminary alignment adjustment step, the two pairs of distance sensors 1 respectively measure the distances from one side of the shoulder of the ball head 10 to the conical surface of the ball socket 20 as X1, X2, Y1 and Y2, wherein X1 and X2 are arranged symmetrically with the center of the ball head 10 in the heading direction, and Y1 and Y2 (not shown in the figure) are arranged symmetrically with the center of the ball head 10 in the span direction. The locator first determines whether the locator deviates from the heading direction in the ball socket 20 through X1 and X2 in the heading direction. If |X1-X2|>△X (△X is the tolerance value), the locator is moved so that |X1-X2|≤△X; then determines whether the locator deviates from the span direction in the ball socket 20 through Y1 and Y2 in the span direction. If |Y1-Y2|>△Y (△Y is the tolerance value), the locator is moved so that |Y1-Y2|≤△Y.

[0051] Among them, if X1-X2>0, the locator moves toward X1 along the heading direction, if X1-X2<0, the locator moves toward X2 along the heading direction; if Y1-Y2>0, the locator moves toward Y1 along the span direction, if Y1-Y2<0, the locator moves toward Y2 along the span direction.

[0052] More specifically, X1 M , X2 M , Y1 M , Y2 M represents the distance after the movement, and θ is the angle between the conical area of ​​the socket 20 and the horizontal plane;

[0053] (X1 M , X2 M , Y1 M , Y2 M ,1)=(X1,X2,Y1,Y2,1)T M；

[0054] T M represents the displacement matrix,

[0055]

[0056] Where j=-k=(X1-X2) / 2, m=-n=(Y1-Y2) / 2, that is, the movement distance of the locator along the heading direction is (X1-X2) / 2*cotθ, and the movement distance of the locator along the span direction is (Y1-Y2) / 2*cotθ).

[0057] Further Figure 6-7 As shown, in the precise alignment adjustment step, the position sensor 3 is a PSD two-dimensional position sensor, and the PSD two-dimensional position sensor is located at the center point of the ball socket 20. The center point of the ball socket 20 is (0,0), and the position sensor 3 receives the light source of the laser transmitter 2 ( Figure 6 The arrow in the figure indicates the light source) and the deviation value (X, Y) of the center point of the ball head 10 and the ball socket 20 is determined and fed back to the positioner, the movement value (-X, -Y) of the positioner is determined and the positioner is moved to align the center point of the ball head 10 with the ball socket 20. When the alignment deviation of the center point of the ball head 10 and the ball socket 20 is between 0.15mm and 0.25mm, the positioner ball head 10 can be inserted into the ball socket 20 on the supporting tooling, achieving the effect of automatic alignment of the positioner within a certain range, speeding up the on-site assembly efficiency, and avoiding the inconvenience of only being able to connect the ball head 10 and the ball socket 20 through manual observation. Of course, in other embodiments, if the alignment deviation is less than 0.15mm, alignment can also be performed as long as it is not greater than 0.25mm.

[0058] It should be noted that the above-mentioned certain range refers to the range surrounded by the four distance sensors 1. In addition, the area around the center point of the ball socket 20 is covered within the measurement range of the position sensor 3 to ensure that the subsequent precise alignment and adjustment steps can be carried out smoothly.

[0059] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A positioning device for an automatic positioning device for an aircraft section support joint, wherein the height axis of the positioning device is perpendicular to the horizontal plane, and is characterized in that: include: A preliminary alignment module, comprising a distance sensor (1), a plurality of distance sensors (1) being arranged around the circumference of the ball head (10) on a side of the ball head (10) of the positioner facing the ball socket (20), the plurality of distance sensors (1) being communicatively connected to the positioner, the plurality of distance sensors (1) being configured to measure the distance between a side of the shoulder of the ball head (10) and a conical surface of the ball socket (20) and output the distance to the positioner so that the positioner can achieve preliminary alignment; and A precise alignment module comprises a laser emitter (2) and a position sensor (3); the position sensor (3) coaxially arranged with the ball socket (20) is installed in a circular hole of the ball socket (20); the laser emitter (2) is arranged at the ball head end of the ball head (10); the position sensor (3) is communicatively connected with the positioner; the position sensor (3) is configured to receive the light source emitted by the laser emitter (2) and output it to the positioner so that the positioner can achieve precise alignment.

2. The positioning device of the automatic positioning device for the aircraft section support joint according to claim 1 is characterized in that: Two pairs of distance sensors (1) are provided, wherein one pair of the distance sensors (1) is arranged along the heading direction and is arranged symmetrically with respect to the center of the ball head (10), and the other pair of the distance sensors (1) is arranged along the span direction perpendicular to the heading direction and is arranged symmetrically with respect to the center of the ball head (10).

3. A method for positioning an automatic positioning device for an aircraft section support joint, characterized in that: The positioning device of the automatic positioning device for the aircraft section support joint used in any one of claims 1 to 2, wherein the positioning method of the automatic positioning device for the aircraft section support joint comprises the following steps: Preliminary alignment adjustment: a plurality of distance sensors (1) on the shoulder of the ball head (10) respectively measure the distance from one side of the shoulder of the ball head (10) to the conical surface of the ball socket (20), and output the distance information to the positioner, which determines whether there is a deviation, so as to move the positioner so that the ball head (10) is located around the center point of the ball socket (20); Precise alignment and adjustment: The light source emitted by the laser emitter (2) on the ball head end of the ball head (10) hits the position sensor (3) in the circular hole of the ball socket (20), and outputs the light source information to the positioner, which determines whether there is a deviation, so as to move the positioner to align the ball head (10) with the center point of the ball socket (20).

4. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 3 is characterized in that: In the preliminary alignment and adjustment step, the two pairs of distance sensors (1) respectively measure the distances from one side of the shoulder of the ball head (10) to the conical surface of the ball socket (20) as X1, X2, Y1 and Y2, wherein X1 and X2 are arranged symmetrically with respect to the center of the ball head (10) in the heading direction, and Y1 and Y2 are arranged symmetrically with respect to the center of the ball head (10) in the span direction.

5. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 4, characterized in that: In the preliminary alignment adjustment step, the positioner first determines whether the positioner deviates from the heading direction in the ball socket (20) through X1 and X2 of the heading direction. If |X1-X2|>△X (△X is a tolerance value), the positioner is moved so that |X1-X2|≤△X; Then, the Y1 and Y2 in the span direction are used to determine whether the locator deviates from the socket (20) in the span direction. If |Y1-Y2|>△Y (△Y is the tolerance value), the locator is moved so that |Y1-Y2|≤△Y.

6. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 5, characterized in that: In the preliminary alignment adjustment step, if X1-X2>0, the positioner moves along the heading direction toward X1, and if X1-X2<0, the positioner moves along the heading direction toward X2; If Y1-Y2>0, the positioner moves along the span direction toward Y1, and if Y1-Y2<0, the positioner moves along the span direction toward Y2.

7. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 3, characterized in that: In the precise alignment and adjustment step, the position sensor (3) is a PSD two-dimensional position sensor, and the PSD two-dimensional position sensor is located at the center point of the ball socket (20).

8. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 7, characterized in that: In the precise alignment and adjustment step, the center point of the ball socket (20) is (0, 0), the position sensor (3) receives the light source of the laser transmitter (2) and determines the deviation value (X, Y) between the ball head (10) and the center point of the ball socket (20), feeds it back to the positioner, determines the movement value (-X, -Y) of the positioner, and moves the positioner to align the ball head (10) with the center point of the ball socket (20).

9. The method for positioning the automatic positioning device for the aircraft section support joint according to claim 8, characterized in that: In the precise alignment and adjustment step, the alignment deviation between the center points of the ball head (10) and the ball socket (20) is 0.15 mm to 0.25 mm.

10. The method for positioning an automatic positioning device for an aircraft section support joint according to claim 3, characterized in that: The area around the center point of the ball socket (20) is within the measurement range of the position sensor (3).

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