Vertical six-degree-of-freedom aircraft skin drilling device

Abstract

A vertical six-degree-of-freedom aircraft skin drilling device belongs to the technical field of aircraft manufacturing and comprises a rack, an industrial personal computer, a posture adjusting mechanism, a pneumatic rotating table, machine vision equipment and a drilling machine. The industrial personal computer and the posture adjusting mechanism are arranged on the rack in parallel; the pneumatic rotating table is arranged on the posture adjusting mechanism, the pneumatic rotating table is electrically connected with the industrial personal computer, the pneumatic rotating table is used for installing machine vision equipment or a drilling machine, and the machine vision equipment or the drilling machine is electrically connected with the industrial personal computer; foma wheels are installed at the bottom of the rack. According to the vertical six-degree-of-freedom aircraft skin drilling device, the use of a traditional drill plate is abandoned, the aircraft skin drilling cost is reduced, the link of manually holding a drilling machine to machine assembly holes is omitted, automatic recognition and positioning of the positions of the assembly holes are achieved through machine vision equipment, machining of the assembly holes is achieved in an automatic mode, and the production efficiency is improved. The drilling precision of the aircraft skin is improved, and then the follow-up assembly precision of the aircraft skin is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft manufacturing, and in particular relates to a vertical six-degree-of-freedom aircraft skin hole making device. Background Art

[0002] Because aircraft surfaces are covered in skin, the skin assembly process is a crucial step in aircraft manufacturing. During this process, the machining of assembly holes is crucial. To ensure accurate positioning of the assembly holes, the drill bit must be aligned with the normal direction of the aircraft surface as closely as possible.

[0003] However, existing aircraft skin hole-making technology primarily relies on drill templates to ensure the precise positioning of assembly holes. During hole-making, the drill template must be perfectly aligned with the aircraft surface, and then a handheld drill is used to complete the hole-making process. Due to regional differences in aircraft surface contours and morphology, drill templates are specific to each region. Each drill template can only be used within its specific area and cannot be used across regions. Therefore, to meet the needs of aircraft skin hole-making, the only option is to custom-manufacture a large number of drill templates, resulting in high hole-making costs.

[0004] In addition, the manufacturing process of the drilling template is prone to manufacturing errors, and manual handheld drilling is prone to control errors when processing assembly holes. The introduction of errors will directly reduce the accuracy of hole making, thereby affecting the subsequent assembly accuracy of the aircraft skin. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a vertical six-degree-of-freedom aircraft skin hole-making device, which abandons the use of traditional drilling templates, reduces the cost of aircraft skin hole-making, eliminates the need for manual handheld drilling of assembly holes, relies on machine vision equipment to realize automatic identification and positioning of assembly hole positions, realizes assembly hole processing in an automated manner, improves the aircraft skin hole-making accuracy, and thus ensures the subsequent aircraft skin assembly accuracy.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a vertical six-degree-of-freedom aircraft skin hole-making device, comprising a frame, an industrial computer, an attitude adjustment mechanism, a pneumatic rotary table, a machine vision device and a hole-making drill; the industrial computer and the attitude adjustment mechanism are arranged in parallel on the frame; the pneumatic rotary table is arranged on the attitude adjustment mechanism, the pneumatic rotary table is electrically connected to the industrial computer, the pneumatic rotary table is used to install a machine vision device or a hole-making drill, and the machine vision device or the hole-making drill is electrically connected to the industrial computer.

[0007] The frame adopts a double-column structure; the posture adjustment mechanism is located at the front side of the frame and is arranged at the top of the frame column; the industrial computer is located at the rear side of the frame and is arranged at the upper part of the frame column.

[0008] The bottoms of the double columns of the frame are equipped with Forma wheels.

[0009] The posture adjustment mechanism includes a rectangular frame base, a left-right movable posture adjustment component, an up-down movable posture adjustment component and a forward-backward movable posture adjustment component; the rectangular frame base is fixedly mounted on a machine frame; the left-right movable posture adjustment component is arranged on the rectangular frame base; the up-down movable posture adjustment component is arranged on the left-right movable posture adjustment component; the forward-backward movable posture adjustment component is arranged on the up-down movable posture adjustment component; and the pneumatic rotating table is arranged on the forward-backward movable posture adjustment component.

[0010] The left and right movable posture adjustment component includes a left and right movable guide rail, a left and right movable slider, a left and right movable rectangular frame slide, a left and right movable execution motor, a lead screw, a nut and a force transmission rod; the left and right movable guide rail is horizontally arranged on the front surface of the horizontal arm of the rectangular frame base and adopts a parallel double-track structure; the left and right movable slider is installed on the left and right movable guide rail; the left and right movable rectangular frame slide is fixedly installed on the left and right movable slider, and a motor seat and a bearing seat are fixedly installed on the two ends of the upper surface of the left and right movable rectangular frame slide respectively; the left and right movable execution motor is horizontally fixed on the motor seat, and the left and right movable execution motor is connected to the industrial control electromechanical system; one end of the lead screw is coaxially connected to the power output shaft of the left and right movable execution motor, and the other end of the lead screw is rotatably connected to the bearing seat, and the lead screw is distributed parallel to the left and right movable guide rail; the nut is sleeved on the lead screw; one end of the force transmission rod is fixedly connected to the nut, and the other end of the force transmission rod is fixedly connected to the left and right movable rectangular frame slide.

[0011] The up and down movement posture adjustment component includes an up and down movement guide rail, an up and down movement slider, an up and down movement door-shaped frame slide and an up and down movement electric push rod; the up and down movement guide rail is vertically arranged on the inner surface of the vertical arm of the left and right movement rectangular frame slide and adopts a parallel double-track structure; the up and down movement slider is installed on the up and down movement guide rail; the up and down movement door-shaped frame slide is fixedly installed on the up and down movement slider; the up and down movement electric push rod is vertically fixed on the top of the left and right movement rectangular frame slide, and the power output shaft of the up and down movement electric push rod vertically passes through the left and right movement rectangular frame slide and is fixedly connected to the left and right movement rectangular frame slide; the up and down movement electric push rod is electrically connected to the industrial control machine.

[0012] The forward and backward movable posture adjustment component includes a forward and backward movable X-shaped slide, a forward and backward movable guide slide bar, a forward and backward movable guide sleeve and a forward and backward movable electric push rod; a forward and backward movable guide slide bar is fixedly installed at the end of each of the four support arms of the forward and backward movable X-shaped slide bar, and each forward and backward movable guide slide bar is fitted with a forward and backward movable guide sleeve, and the four forward and backward movable guide sleeves are fixedly connected to the vertical arms of the up and down movable door-shaped frame slide; the forward and backward movable guide slide bar is vertically distributed with the up and down movable guide rails and the left and right movable guide rails; the forward and backward movable electric push rod is horizontally fixed on the up and down movable door-shaped frame slide, and the power output shaft of the forward and backward movable electric push rod is parallel to the forward and backward movable guide slide bar, and the power output shaft of the forward and backward movable electric push rod is fixedly connected to the forward and backward movable X-shaped slide; the forward and backward movable electric push rod is electrically connected to the industrial control machine; the pneumatic rotary table is installed at the center of the forward and backward movable X-shaped slide.

[0013] A clamp is provided between the forward and backward moving X-shaped sliding frame and the forward and backward moving guide sliding bar.

[0014] Beneficial effects of the present invention:

[0015] The vertical six-degree-of-freedom aircraft skin hole-making device of the present invention abandons the use of traditional drilling templates, reduces the cost of aircraft skin hole-making, eliminates the need for manual handheld drilling of assembly holes, relies on machine vision equipment to automatically identify and locate the positions of assembly holes, and realizes the processing of assembly holes in an automated manner, thereby improving the accuracy of aircraft skin hole-making and ensuring the subsequent assembly accuracy of aircraft skins. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of a vertical six-degree-of-freedom aircraft skin hole-making device of the present invention (viewing angle 1);

[0017] Figure 2 This is a structural schematic diagram of a vertical six-degree-of-freedom aircraft skin hole-making device of the present invention (viewpoint 2);

[0018] Figure 3 Schematic diagram of the structure of the posture adjustment mechanism of the present invention (viewing angle 1);

[0019] Figure 4 Schematic diagram of the structure of the posture adjustment mechanism of the present invention (viewing angle 2);

[0020] In the figure, 1 is a frame, 2 is an industrial computer, 3 is a posture adjustment mechanism, 4 is a pneumatic rotary table, 5 is a machine vision device, 6 is a Forma wheel, 7 is a rectangular frame base, 8 is a left-right movable guide rail, 9 is a left-right movable slider, 10 is a left-right movable rectangular frame slide, 11 is a left-right movable actuator motor, 12 is a lead screw, 13 is a nut, 14 is a force transmission rod, 15 is a motor seat, 16 is a bearing seat, 17 is a guide rail that moves up and down, 18 is a left-right movable slider, 19 is a left-right movable gate-shaped frame slide, 20 is an electric push rod that moves up and down, 21 is a front-back movable X-shaped slide, 22 is a front-back movable guide slide, 23 is a front-back movable guide sleeve, 24 is an electric push rod that moves back and forth, 25 is a clamp. DETAILED DESCRIPTION

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 4 As shown, a vertical six-degree-of-freedom aircraft skin hole-making device includes a frame 1, an industrial computer 2, a posture adjustment mechanism 3, a pneumatic rotary table 4, a machine vision device 5 and a hole-making drill; the industrial computer 2 and the posture adjustment mechanism 3 are arranged in parallel on the frame 1; the pneumatic rotary table 4 is arranged on the posture adjustment mechanism 3, the pneumatic rotary table 4 is electrically connected to the industrial computer 2, and the pneumatic rotary table 4 is used to install the machine vision device 5 or the hole-making drill, and the machine vision device 5 or the hole-making drill is electrically connected to the industrial computer 2.

[0023] The frame 1 adopts a double-column structure; the posture adjustment mechanism 3 is located at the front side of the frame 1 and is set at the top of the column of the frame 1; the industrial computer 2 is located at the rear side of the frame 1 and is set at the upper part of the column of the frame 1.

[0024] A Forma wheel 6 is installed at the bottom of the double columns of the frame 1.

[0025] The posture adjustment mechanism includes a rectangular frame base 7, a left-right movable posture adjustment component, an up-down movable posture adjustment component and a forward-backward movable posture adjustment component; the rectangular frame base 7 is fixedly mounted on the frame 1; the left-right movable posture adjustment component is arranged on the rectangular frame base 7; the up-down movable posture adjustment component is arranged on the left-right movable posture adjustment component; the forward-backward movable posture adjustment component is arranged on the up-down movable posture adjustment component; the pneumatic rotating table 4 is arranged on the forward-backward movable posture adjustment component.

[0026] The left-right movable posture adjustment assembly includes a left-right movable guide rail 8, a left-right movable slider 9, a left-right movable rectangular frame slide 10, a left-right movable execution motor 11, a lead screw 12, a nut 13 and a force transmission rod 14; the left-right movable guide rail 8 is horizontally arranged on the front surface of the horizontal arm of the rectangular frame base 7 and adopts a parallel double-rail structure; the left-right movable slider 9 is installed on the left-right movable guide rail 8; the left-right movable rectangular frame slide 10 is fixedly installed on the left-right movable slider 9, and two ends of the upper surface of the left-right movable rectangular frame slide 10 are respectively fixedly installed. Motor seat 15 and bearing seat 16; the left and right moving execution motor 11 is horizontally fixed on the motor seat 15, and the left and right moving execution motor 11 is electrically connected to the industrial computer 2; one end of the screw 12 is coaxially fixed with the power output shaft of the left and right moving execution motor 11, and the other end of the screw 12 is rotatably connected to the bearing seat 16, and the screw 12 is distributed parallel to the left and right moving guide rails 8; the nut 13 is sleeved on the screw 12; one end of the force transmission rod 14 is fixedly connected to the nut 13, and the other end of the force transmission rod 14 is fixedly connected to the left and right moving rectangular frame slide 10.

[0027] The up and down moving posture adjustment component includes an up and down moving guide rail 17, an up and down moving slider 18, an up and down moving door-shaped frame slide 19 and an up and down moving electric push rod 20; the up and down moving guide rail 17 is vertically arranged on the inner surface of the vertical arm of the left and right moving rectangular frame slide 10 and adopts a parallel double-track structure; the up and down moving slider 18 is installed on the up and down moving guide rail 17; the up and down moving door-shaped frame slide 19 is fixedly installed on the up and down moving slider 18; the up and down moving electric push rod 20 is vertically fixed on the top of the left and right moving rectangular frame slide 10, and the power output shaft of the up and down moving electric push rod 20 vertically passes through the left and right moving rectangular frame slide 10 and is fixedly connected to the left and right moving rectangular frame slide 10; the up and down moving electric push rod 20 is electrically connected to the industrial control computer 2.

[0028] The forward and backward moving posture adjustment component includes a forward and backward moving X-shaped slide 21, a forward and backward moving guide slide bar 22, a forward and backward moving guide sleeve 23 and a forward and backward moving electric push rod 24; a forward and backward moving guide slide bar 22 is fixedly installed at the four support arm ends of the forward and backward moving X-shaped slide bar 21, and each forward and backward moving guide slide bar 22 is fitted with a forward and backward moving guide sleeve 23, and the four forward and backward moving guide sleeves 23 are fixedly connected to the vertical arm of the up and down moving door-shaped frame slide 19; the forward and backward moving guide slide bar 22 is vertically distributed with the up and down moving guide rail 17 and the left and right moving guide rail 8; the forward and backward moving electric push rod 24 is horizontally fixed on the up and down moving door-shaped frame slide 19, and the power output shaft of the forward and backward moving electric push rod 24 is distributed parallel to the forward and backward moving guide slide bar 22, and the power output shaft of the forward and backward moving electric push rod 24 is fixedly connected to the forward and backward moving X-shaped slide 21; the forward and backward moving electric push rod 24 is electrically connected to the industrial computer 2; the pneumatic rotary table 4 is installed at the center of the forward and backward moving X-shaped slide 21.

[0029] A clamp 25 is provided between the forward and backward moving X-shaped slide 21 and the forward and backward moving guide slide bar 22 .

[0030] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0031] First, the frame 1 is moved as a whole by the Forma wheel 6 , so that the attitude adjustment mechanism 3 moves with the frame 1 to the area of the aircraft fuselage where holes are to be made, and then the Forma wheel 6 is locked to complete the position fixation of the frame 1 .

[0032] The machine vision device 5 is installed on the pneumatic rotary table 4, and the machine vision device 5 accurately identifies the hole-making position. After the hole-making position is determined, the attitude adjustment mechanism 3 is started, and the spatial position of the machine vision device 5 is adjusted by the attitude adjustment mechanism 3 so that the lens of the machine vision device 5 is initially aligned with the hole-making position. Then, the pneumatic rotary table 4 is started to accurately adjust the attitude of the machine vision device 5 until the central axis of the machine vision device 5 coincides with the normal of the aircraft surface at the hole-making position.

[0033] Specifically, when the machine vision device 5 needs to adjust its position in the left and right directions, it is necessary to start the left and right movement execution motor 11 to drive the screw 12 to rotate. The rotational motion of the screw 12 will be synchronously converted into the linear motion of the nut 13, and then the nut 13 will drive the left and right moving rectangular frame slide 10 and the left and right moving slider 9 to move linearly along the left and right moving guide rails 8 through the force transmission rod 14. At this time, the machine vision device 5 can follow the left and right moving rectangular frame slide 10 to move synchronously in the left and right directions.

[0034] Specifically, when the machine vision device 5 needs to adjust its position in the up and down directions, it is necessary to start the up and down moving electric push rod 20, thereby driving the up and down moving door-shaped frame slide 19 and the up and down moving slider 18 to move linearly along the up and down moving guide rail 17. At this time, the machine vision device 5 can follow the up and down moving door-shaped frame slide 19 to move synchronously in the up and down directions.

[0035] When the central axis of the machine vision device 5 coincides with the normal of the aircraft surface at the hole-making position, the machine vision device 5 is removed from the pneumatic rotary table 4, and then the hole-making drill is replaced. After the hole-making drill is installed, the clamp 25 is first released to restore the axial movement freedom of the forward and backward moving guide slide 22, and then the hole-making drill is started, and then the forward and backward moving electric push rod 24 is started, which drives the forward and backward moving X-shaped slide 21 and the forward and backward moving guide slide 22 to move linearly along the forward and backward moving guide sleeve 23. As the forward and backward moving X-shaped slide 21 moves, the hole-making drill will synchronously approach the aircraft surface until the drill bit of the hole-making drill drills into the aircraft surface and completes the processing of the skin assembly hole.

[0036] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the scope of protection of the present invention are included in the scope of protection of the present invention.

Claims

1. A vertical six-degree-of-freedom aircraft skin hole-making device, characterized by: It includes a frame, an industrial computer, a posture adjustment mechanism, a pneumatic rotary table, a machine vision device and a hole-making drill; the industrial computer and the posture adjustment mechanism are arranged in parallel on the frame; the pneumatic rotary table is arranged on the posture adjustment mechanism, the pneumatic rotary table is electrically connected to the industrial computer, the pneumatic rotary table is used to install the machine vision device or the hole-making drill, and the machine vision device or the hole-making drill is electrically connected to the industrial computer.

2. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 1, characterized in that: The frame adopts a double-column structure; the posture adjustment mechanism is located at the front side of the frame and is arranged at the top of the frame column; the industrial computer is located at the rear side of the frame and is arranged at the upper part of the frame column.

3. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 2, characterized in that: The bottoms of the double columns of the frame are equipped with Forma wheels.

4. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 1, characterized in that: The posture adjustment mechanism includes a rectangular frame base, a left-right movable posture adjustment component, an up-down movable posture adjustment component and a forward-backward movable posture adjustment component; the rectangular frame base is fixedly mounted on a machine frame; the left-right movable posture adjustment component is arranged on the rectangular frame base; the up-down movable posture adjustment component is arranged on the left-right movable posture adjustment component; the forward-backward movable posture adjustment component is arranged on the up-down movable posture adjustment component; and the pneumatic rotating table is arranged on the forward-backward movable posture adjustment component.

5. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 4, characterized in that: The left and right movable posture adjustment component includes a left and right movable guide rail, a left and right movable slider, a left and right movable rectangular frame slide, a left and right movable execution motor, a lead screw, a nut and a force transmission rod; the left and right movable guide rail is horizontally arranged on the front surface of the horizontal arm of the rectangular frame base and adopts a parallel double-track structure; the left and right movable slider is installed on the left and right movable guide rail; the left and right movable rectangular frame slide is fixedly installed on the left and right movable slider, and a motor seat and a bearing seat are fixedly installed on the two ends of the upper surface of the left and right movable rectangular frame slide respectively; the left and right movable execution motor is horizontally fixed on the motor seat, and the left and right movable execution motor is connected to the industrial control electromechanical system; one end of the lead screw is coaxially connected to the power output shaft of the left and right movable execution motor, and the other end of the lead screw is rotatably connected to the bearing seat, and the lead screw is distributed parallel to the left and right movable guide rail; the nut is sleeved on the lead screw; one end of the force transmission rod is fixedly connected to the nut, and the other end of the force transmission rod is fixedly connected to the left and right movable rectangular frame slide.

6. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 5, characterized in that: The up and down movement posture adjustment component includes an up and down movement guide rail, an up and down movement slider, an up and down movement door-shaped frame slide and an up and down movement electric push rod; the up and down movement guide rail is vertically arranged on the inner surface of the vertical arm of the left and right movement rectangular frame slide and adopts a parallel double-track structure; the up and down movement slider is installed on the up and down movement guide rail; the up and down movement door-shaped frame slide is fixedly installed on the up and down movement slider; the up and down movement electric push rod is vertically fixed on the top of the left and right movement rectangular frame slide, and the power output shaft of the up and down movement electric push rod vertically passes through the left and right movement rectangular frame slide and is fixedly connected to the left and right movement rectangular frame slide; the up and down movement electric push rod is electrically connected to the industrial control machine.

7. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 6, characterized in that: The forward and backward movable posture adjustment component includes a forward and backward movable X-shaped slide, a forward and backward movable guide slide bar, a forward and backward movable guide sleeve and a forward and backward movable electric push rod; a forward and backward movable guide slide bar is fixedly installed at the end of each of the four support arms of the forward and backward movable X-shaped slide bar, and each forward and backward movable guide slide bar is fitted with a forward and backward movable guide sleeve, and the four forward and backward movable guide sleeves are fixedly connected to the vertical arms of the up and down movable door-shaped frame slide; the forward and backward movable guide slide bar is vertically distributed with the up and down movable guide rails and the left and right movable guide rails; the forward and backward movable electric push rod is horizontally fixed on the up and down movable door-shaped frame slide, and the power output shaft of the forward and backward movable electric push rod is parallel to the forward and backward movable guide slide bar, and the power output shaft of the forward and backward movable electric push rod is fixedly connected to the forward and backward movable X-shaped slide; the forward and backward movable electric push rod is electrically connected to the industrial control machine; the pneumatic rotary table is installed at the center of the forward and backward movable X-shaped slide.

8. The vertical six-degree-of-freedom aircraft skin hole-making device according to claim 7, characterized in that: A clamp is provided between the forward and backward moving X-shaped sliding frame and the forward and backward moving guide sliding bar.

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