Three-degree-of-freedom numerical control positioner capable of being used for aircraft assembly fixture

Abstract

The invention belongs to the field of assembly of aeronautical manufacturing engineering, and relates to a three-degree-of-freedom numerical control positioner capable of being used for an aircraft assembly fixture, and the three-degree-of-freedom numerical control positioner can also be used for other process equipment related to aeronautical manufacturing. An automation technology is adopted, the numerical control positioner is installed on a fixture or other supporting structures according to standard requirements, and the position of the tail end of the positioner can be adjusted through a numerical control system. A certain space adjusting range is achieved, various working conditions can be matched, certain flexibility is achieved, and repeated design of the positioner is avoided; the positioning precision and the repeated positioning precision are high; the position keeping capability is relatively high; the numerical control positioners can be combined for use, the tail end positions of the numerical control positioners can be dynamically adjusted on a fixture according to actual conditions, force feedback control in the assembling process can be achieved by adding an external force sensor, and assembling errors and assembling stress are reduced.

Description

Technical Field

[0001] The invention belongs to the assembly field of aviation manufacturing engineering and relates to a three-degree-of-freedom numerical control positioner that can be used for aircraft assembly jigs. The numerical control positioner can also be used for other process equipment related to aviation manufacturing. Background Art

[0002] In aircraft assembly, positioners are used to determine the precise location of product positioning points. Traditional positioners are purely mechanical structures, with the positioner end position typically fixed or with only one degree of freedom. These positioners lack flexibility and position adjustment capabilities. Furthermore, factors such as jig assembly errors can cause positional deviations, leading to assembly stress during assembly.

[0003] Nanjing University of Aeronautics and Astronautics proposed a flexible positioner and a method for assembling composite wing boxes using the same, CN109552663A. The proposed flexible positioner uses a flexible ball head in conjunction with a positioning plate as the main positioning structure. By adjusting the position of the ball head, the position of the positioning plate can be quickly switched, which helps to improve positioning efficiency. However, the position of the positioner needs to be adjusted manually and has only one degree of freedom of displacement. Zhejiang University proposed a CNC positioner for aircraft wing panels, CN107161355A, which can adaptively adjust the wing deformation caused by temperature, thereby improving assembly quality. However, the CNC positioner is large in size and difficult to use on an assembly jig.

[0004] Generally speaking, the existing number of games has the following shortcomings:

[0005] (1) The end of the existing mechanical positioner used for assembly jigs is generally fixed or has only one degree of freedom of displacement, and the end of the positioner does not have sufficient position adjustment capability;

[0006] (2) Existing positioners used for assembly jigs are usually adjusted manually, with a low degree of automation and the inability to achieve multi-positioner collaborative operation capabilities;

[0007] (3) Existing positioners used for assembly jigs are generally purely mechanical and cannot be connected to external sensing devices such as laser trackers and mechanical sensors, and do not have environmental perception capabilities;

[0008] (4) The existing CNC positioners have large structural dimensions and limited application scenarios. They are generally used for posture adjustment of large components, such as fuselage alignment, and basically have no potential for application on assembly jigs. Summary of the Invention

[0009] According to one aspect of the present application, there is provided a three-degree-of-freedom numerically controlled positioner that can be used for an aircraft assembly jig, wherein the three-degree-of-freedom numerically controlled positioner has three mutually perpendicular degrees of freedom of displacement;

[0010] It consists of three parts: X segment 100, Y segment 200 and Z segment 300;

[0011] The linear directions of the movable parts of the X segment 100, the Y segment 200 and the Z segment 300 are defined as the X axis, the Y axis and the Z axis respectively;

[0012] The X-section 100 is composed of a base component A101, a ram component 102 and a motor drive component A103;

[0013] The Y section 200 is composed of a servo motor B201, a reducer B202, a reducer frame B203, a coupling B204, a front cover B205, an upper cover B206, a linear guide pair B207, a rear cover B208, a deep groove ball bearing B209, a base B210, a grating ruler connecting plate B211, a grating ruler B212, a ball screw pair B213, and a bearing seat B214;

[0014] The Z segment 300 is composed of a base component C301 , a motor drive component C302 and a slide component 303 .

[0015] Driven by the motor drive component A103, the ram component 102 can slide relative to the base component A101 in the X-axis direction;

[0016] The base assembly A101 is composed of a base A104, an outer plate A1105, an outer plate A2106, an outer plate A3109, a limit screw 107, an upper cover A108, a guide rail clamp A110, a front cover A1111, a front cover A2112, a grating ruler connecting plate A113, a grating ruler A114, a handle 115 and a square ring 116;

[0017] The base A104 is mounted on an aircraft assembly jig or other supporting structure by means of screws and pins;

[0018] The outer panels A1105, A2106, A3109, square ring 116 and base A104 are positioned by bosses on their own structures and connected to each other by screws and pins to form a whole;

[0019] The two guide rail clamps A110 are respectively mounted on the outer plate A1105 and the outer plate A3109 by screws to clamp the linear guide pair A118;

[0020] The grating ruler A114 is mounted on the outside of the outer plate A1105 by screws, and the reading head of the grating ruler A114 is connected to the grating ruler connecting plate A113 by screws;

[0021] The grating ruler connecting plate A113 is mounted on the base B209 of the Y segment 200 by screws;

[0022] The front cover A1111 and the front cover A2112 are screwed to the sides of the outer panels A1105 and A3109;

[0023] The upper cover plate A108 is mounted on the square ring 116 by screws;

[0024] The three handles 115 are respectively mounted on the outer plate A1105, the outer plate A2106 and the outer plate A3109 by screws;

[0025] The limit screw 107 is screwed into the threaded hole on the outer plate A2106 and sunk into the groove on the ram block 117 to achieve hard limiting of the ram assembly 102;

[0026] The ram assembly 102 is composed of a ram block 117, a linear guide pair A118 and a nut seat A119;

[0027] There are three linear guide rails A118, each of which is equipped with two sliders. The three sliders of the linear guide rails A118 are mounted on the outer plate A1105, the outer plate A2106 and the outer plate A3109 by screws.

[0028] The three linear guide rails A118 are mounted on the ram block 117 by screws;

[0029] The nut seat A119 is positioned by a stop and connected to the ram block 117 by screws;

[0030] The motor drive assembly A103 includes a support frame 120, a reducer frame A121, a reducer A122, a servo motor A123, a bearing seat A1124, a ball screw pair A125 and a bearing seat A2126;

[0031] The bearing seat A1124 and the bearing seat A2126 are mounted on the support frame 120 by screws, the ball screw pair A125 is constrained by the bearing seat A1124 and the bearing seat A2126, and the nut of the ball screw pair A125 is connected to the nut seat A119 by screws;

[0032] The output hole of the reducer A122 is connected to the input end of the ball screw pair A125 via a flat key. The output end of the reducer A122 is mounted on the reducer frame A121 via screws, and the reducer frame A121 is connected to the support frame 120 via screws;

[0033] The servo motor A123 is mounted on the input end of the reducer A122 by screws.

[0034] The servo motor A123 drives the ball screw pair A125 to rotate through the reducer A122, and the nut of the ball screw pair A125 moves linearly along the X direction. Under the constraint of the linear guide pair A118, the nut seat A119 drives the slide assembly 102 to move linearly along the X direction, and then drives the Y segment 200 and the Z segment 300 to move linearly along the X direction.

[0035] The base B210 is positioned by a stop and mounted on the ram block 117 using screws and pins;

[0036] The two linear guide rails B207 are respectively mounted on both sides of the base B210 by screws, and each linear guide rail B207 is equipped with two sliders;

[0037] The front cover B205, upper cover B206 and rear cover B208 are respectively mounted on the base B210 by screws;

[0038] The deep groove ball bearing B209 is installed in the bearing hole of the rear cover plate B208, and the bearing seat B214 is installed on the front cover plate B205 by screws. The deep groove ball bearing B209 and the bearing seat B214 constrain the ball screw pair B213, and the ball screw pair B213 is connected to the bearing seat B310 of the Z section 300 by screws;

[0039] The reducer frame B203 is mounted on the front cover B205 by screws;

[0040] The servo motor B201 and the reducer B202 are connected by screws, and the reducer B202 is mounted on the reducer frame B203 by screws;

[0041] The output shaft of the reducer B202 is connected to the input end of the ball screw pair B213 through a coupling B204.

[0042] The servo motor B201 drives the ball screw pair B213 to rotate through the reducer B202, and the nut of the ball screw pair B213 moves linearly along the Y direction. Under the constraint of the linear guide pair B207, the bearing seat B310 drives the Z segment 300 to move linearly along the Y axis.

[0043] The base component C301 includes a base C304, a linear guide pair C305, an upper cover C306, a grating scale connecting plate C307, a grating scale C308, a guide rail clamp B309 and a nut seat B310;

[0044] The base C304 is mounted on the slider of the linear guide pair B207 by screws;

[0045] The nut seat B310 is mounted on the base C304 by screws and is connected to the nut of the ball screw pair B213 by screws;

[0046] The linear guide pair C305 is installed on both sides of the base C304 by screws, and each linear guide pair C305 is equipped with two sliders;

[0047] The upper cover C306 is mounted on the upper side of the base C304 by screws;

[0048] The grating ruler C308 is mounted on the outer side of the base C304 by screws;

[0049] One end of the grating ruler connecting plate C307 is connected to the grating ruler C308 reading head by screws, and the other end of the grating ruler connecting plate C307 is connected to the slide 321 by screws;

[0050] The guide rail clamp B309 is installed on one side of the bottom of the base C304 to clamp the linear guide rail pair B207;

[0051] The motor drive assembly C302 includes a servo motor C311, a reducer C312, a reducer frame C313, a coupling C314, a bearing seat C315, a front cover C316, a ball screw pair C317, a rear cover C318 and a deep groove ball bearing C319;

[0052] The front cover C316 and the rear cover C318 are mounted on the base C304 by screws;

[0053] The bearing seat C315 is mounted on the front cover C316 by screws, and the deep groove ball bearing C319 is mounted in the bearing hole of the rear cover C318. The bearing seat C315 and the deep groove ball bearing C319 constrain the ball screw pair C317.

[0054] The ball screw pair C317 nut is connected to the slide 321 via threads;

[0055] The servo motor C311 and the reducer C312 are connected by threads, and the reducer C312 is positioned by a stop and installed on the reducer frame C313 by screw connection;

[0056] The reducer frame C313 is mounted on the front cover C316 by screws;

[0057] The output shaft of the reducer C312 is connected to the input end of the ball screw pair C317 through a coupling C314;

[0058] The slide assembly 303 includes a guide rail clamp C320, a slide 321 and an end structure 322;

[0059] The slide 321 is connected to the slider of the linear guide pair C305 by screws;

[0060] The guide rail clamp C320 is mounted on the outside of the slide 321 by screws and is used to clamp the linear guide pair C305;

[0061] The terminal structure 322 is mounted on the lower end of the slide 321 by screws and pins. The terminal structure 322 is used to connect structures such as intersections that require positioning of the product and can be replaced according to actual usage requirements.

[0062] The servo motor C311 drives the ball screw pair C317 to rotate through the reducer C312, and the nut of the ball screw pair C317 moves linearly along the Z axis. The slide 321 connected to the nut of the ball screw pair C317 moves along the Z axis under the constraint of the linear guide pair C305, thereby driving the end structure 322 to move linearly along the Z axis.

[0063] According to another aspect of the present application, there is provided a method for using the above-mentioned three-degree-of-freedom CNC positioner that can be used for an aircraft assembly jig, characterized in that:

[0064] The following steps are involved:

[0065] Adjust the spatial position of the terminal structure 322. After the adjustment is completed, the servo motor A123, servo motor B201 and servo motor C311 are powered off and automatically braked. Manually tighten the guide rail clamps A110, guide rail clamps B309 and guide rail clamps C320 to lock the spatial position of the terminal structure 322. After the operation is completed, release the guide rail clamps A110, guide rail clamps B309 and guide rail clamps C320. The servo motor A123, servo motor B201 and servo motor C311 are then powered on. Under the drive of the servo motor A123, servo motor B201 and servo motor C311, the spatial position of the terminal structure 322 is restored to its original position to facilitate product removal from the shelf.

[0066] The adjustment method of the CNC positioner end structure 322 is as follows: the X segment 100 drives the end structure 322 to move linearly along the X direction under the drive of servo motor A123, the Y segment 200 drives the end structure 322 to move linearly along the Y axis direction under the drive of servo motor B201, and the Z segment 300 drives the end structure 322 to move linearly along the Z axis direction under the drive of servo motor C311. Therefore, the end structure 322 has three displacement degrees of freedom in space.

[0067] The beneficial effects of the present invention are:

[0068] (1) The proposed CNC positioner uses automation technology. The CNC positioner is installed on a jig or other supporting structure according to the specification requirements, and the end position of the positioner can be adjusted by the CNC system;

[0069] (2) The end of the CNC positioner has a certain spatial adjustment range, which can match a variety of working conditions and has a certain flexibility, avoiding repeated design of the positioner;

[0070] (3) The CNC positioner is driven by a servo motor and uses a high-precision encoder and grating ruler to achieve position control. The end has high positioning accuracy and repeatability.

[0071] (4) The servo motor used in the CNC positioner has a brake function, and a mechanical clamp is installed on the linear guide rail, which has a strong position holding ability;

[0072] (5) The CNC positioners can be used in combination, and the end positions of each CNC positioner can be dynamically adjusted on the jig according to the actual situation. The force feedback control of the assembly process can also be achieved by adding external force sensors to reduce assembly errors and assembly stress;

[0073] (6) The structure has strong scalability and modifiability. For example, the CNC positioner has a high load capacity and can be integrated into equipment such as engine assembly racks that require lifting and posture adjustment.

[0074] (7) Data from the assembly process can be collected to facilitate subsequent process analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 This is the overall layout diagram of the CNC positioner;

[0076] Figure 2 It is a schematic diagram of the X segment 100 of the CNC positioner;

[0077] Figure 3 This is a schematic diagram of the interior of the X segment 100 of the CNC positioner;

[0078] Figure 4 This is a schematic diagram of the base assembly A101 of the X segment 100 of the CNC positioner;

[0079] Figure 5 It is a schematic diagram of the ram assembly 102 of the X segment 100 of the numerical control positioner;

[0080] Figure 6 This is a schematic diagram of the CNC positioner X segment 100 motor drive component A103;

[0081] Figure 7 It is a schematic diagram of the Y segment 200 of the CNC positioner;

[0082] Figure 8 It is a schematic diagram of the Z section 300 of the CNC positioner;

[0083] Figure 9 This is a schematic diagram of the CNC positioner Z segment 300 base component C301;

[0084] Figure 10 This is a schematic diagram of the CNC positioner Z segment 300 motor drive component C302;

[0085] Figure 11 It is a schematic diagram of the slide assembly 303 of the Z section 300 of the CNC positioner;

[0086] Figure 12 It is a schematic diagram of the ram block 117 of the X section 100 of the CNC positioner;

[0087] Figure 13 This is a schematic diagram of the base B210 of the Y section 200 of the CNC positioner;

[0088] Figure 14 This is the workflow diagram of the CNC positioner.

[0089] Among them, 100X segment, 101 base component A, 102 slide component, 103 motor drive component A, 104 base A, 105 external plate A1, 106 external plate A2, 107 limit screw, 108 upper cover A, 109 external plate A3, 110 guide rail clamp A, 111 front cover A1, 112 front cover A2, 113 grating ruler connecting plate A, 114 grating ruler A, 115 handle , 116 square ring, 117 slide block, 118 linear guide pair A, 119 nut seat A, 120 support frame, 121 reducer frame A, 122 reducer A, 123 servo motor A, 124 bearing seat A1, 125 ball screw pair A, 126 bearing seat A2, 200Y segment, 201 servo motor B, 202 reducer B, 203 reducer frame B, 204 coupling B, 205 front cover B , 206 upper cover B, 207 linear guide pair B, 208 rear cover B, 209 deep groove ball bearing B, 210 base B, 211 grating ruler connecting plate B, 212 grating ruler B, 213 ball screw pair B, 214 bearing seat B, 300Z segment, 301 base component C, 302 motor drive component C, 303 slide component, 304 base C, 305 linear guide pair C, 306 upper cover C , 307 grating ruler connecting plate C, 308 grating ruler C, 309 guide rail clamp B, 310 nut seat B, 311 servo motor C, 312 reducer C, 313 reducer frame C, 314 coupling C, 315 bearing seat C, 316 front cover C, 317 ball screw pair C, 318 rear cover C, 319 deep groove ball bearing C, 320 guide rail clamp C, 321 slide seat, 322 end structure. DETAILED DESCRIPTION

[0090] The present application is described in detail below with reference to embodiments, but the present application is not limited to these embodiments.

[0091] Example 1

[0092] Reference Figure 1 The three-degree-of-freedom CNC positioner for aircraft assembly jigs includes three parts: an X-section 100, a Y-section 200, and a Z-section 300. The three-degree-of-freedom CNC positioner has three mutually perpendicular degrees of freedom of displacement. The linear directions of the movable parts of the X-section 100, the Y-section 200, and the Z-section 300 are defined as the X-axis, the Y-axis, and the Z-axis, respectively.

[0093] Reference Figure 2 and Figure 3 The X-segment 100 comprises a base component A101, a ram component 102, and a motor drive component A103. Driven by the motor drive component A103, the ram component 102 can slide relative to the base component A101 in the X-axis direction.

[0094] Reference Figure 3 、 Figure 4 、 Figure 7 and Figure 12 The base component A101 is composed of a base A104, an outer plate A1105, an outer plate A2106, an outer plate A3109, a limit screw 107, an upper cover A108, a guide rail clamp A110, a front cover A1111, a front cover A2112, a grating scale connecting plate A113, a grating scale A114, a handle 115 and a square ring 116. Among them, the base A104 is connected and installed on a frame or other supporting structure by screws and pins. The outer plate A1105, the outer plate A2106, the outer plate A3109, the square ring 116 and the base A104 are positioned by the bosses on their own structures, and are connected to each other by screws and pins to form a whole. The two guide rail clamps A110 are respectively installed on the outer plate A1105 and the outer plate A3109 by screws to clamp the linear guide pair A118. The grating scale A114 is installed on the outside of the outer plate A1105 by screws, and the reading head of the grating scale A114 is connected to the grating scale connecting plate A113 by screws. The grating scale connecting plate A113 is installed on the base B209 of the Y segment 200 by screws. The front cover A1111 and the front cover A2112 are screwed to the sides of the outer plate A1105 and the outer plate A3109. The upper cover A108 is installed on the square ring 116 by screws. The three handles 115 are respectively installed on the outer plate A1105, the outer plate A2106 and the outer plate A3109 by screws. The limit screw 107 is screwed into the threaded hole on the outer plate A2106 and sunk into the groove on the slide block 117 to achieve hard limit of the slide assembly 102.

[0095] Reference Figure 3 、 Figure 4 、 Figure 5 and Figure 12 The ram assembly 102 comprises a ram block 117, a linear guide pair A118, and a nut holder A119. There are three linear guide pairs A118, each equipped with two sliders. The sliders of the three linear guide pairs A118 are screwed to the outer panels A1105, A2106, and A3109. The three linear guide pairs A118 are also screwed to the ram block 117. The nut holder A119 is positioned by a stop and screwed to the ram block 117.

[0096] Reference Figure 3 、 Figure 4 、 Figure 5 and Figure 6 The motor drive assembly A103 includes a support frame 120, a reducer frame A121, a reducer A122, a servo motor A123, a bearing seat A1124, a ball screw pair A125, and a bearing seat A2126. The bearing seat A1124 and the bearing seat A2126 are mounted on the support frame 120 by screws. The ball screw pair A125 is constrained by the bearing seat A1124 and the bearing seat A2126. The nut of the ball screw pair A125 is connected to the nut seat A119 by screws. The output hole of the reducer A122 is connected to the input end of the ball screw pair A125 by a flat key. The output end of the reducer A122 is mounted on the reducer frame A121 by screws, and the reducer frame A121 is connected to the support frame 120 by screws. The servo motor A123 is mounted on the input end of the reducer A122 by screws.

[0097] Reference Figures 1 to 6 The working principle of the X segment 100 is as follows: the servo motor A123 drives the ball screw pair A125 to rotate through the reducer A122, and the nut of the ball screw pair A125 moves linearly along the X direction. Under the constraint of the linear guide pair A118, the nut seat A119 drives the slide assembly 102 to move linearly along the X direction, and then drives the Y segment 200 and the Z segment 300 to move linearly along the X direction.

[0098] Reference Figure 1 、 Figure 3 、 Figure 5 、 Figure 7 、 Figure 9 and Figure 13The Y-segment 200 includes a servo motor B201, a reducer B202, a reducer frame B203, a coupling B204, a front cover B205, a top cover B206, a linear guide pair B207, a rear cover B208, a deep groove ball bearing B209, a base B210, a scale connecting plate B211, a scale B212, a ball screw pair B213, and a bearing seat B214. The base B210 is positioned by a stop and mounted on the ram block 117 using screws and pins. Two linear guide pairs B207 are screwed to either side of the base B210, each equipped with two sliders. The front cover B205, top cover B206, and rear cover B208 are also screwed to the base B210. Deep groove ball bearing B209 is installed in the bearing hole of rear cover B208. Bearing seat B214 is screwed to front cover B205. Deep groove ball bearing B209 and bearing seat B214 constrain ball screw assembly B213, which is screwed to bearing seat B310 of Z segment 300. Reducer frame B203 is screwed to front cover B205. Servo motor B201 and reducer B202 are screwed together, and reducer B202 is also screwed to reducer frame B203. The output shaft of reducer B202 is connected to the input of ball screw assembly B213 via coupling B204.

[0099] Reference Figure 1 and Figure 7 The working principle of the Y segment 200 is that the servo motor B201 drives the ball screw pair B213 to rotate through the reducer B202, and the nut of the ball screw pair B213 moves linearly along the Y direction. Under the constraint of the linear guide pair B207, the bearing seat B310 drives the Z segment 300 to move linearly along the Y axis.

[0100] Reference Figure 8 The Z segment 300 includes three parts: a base component C301, a motor drive component C302 and a slide component 303.

[0101] Reference Figure 7 、 Figure 8 、 Figure 9 and Figure 11The base component C301 includes a base C304, a linear guide pair C305, an upper cover C306, a grating scale connecting plate C307, a grating scale C308, a guide clamp B309 and a nut seat B310. The base C304 is mounted on the slider of the linear guide pair B207 by screws. The nut seat B310 is mounted on the base C304 by screws and is connected to the nut of the ball screw pair B213 by screws. The linear guide pair C305 is mounted on both sides of the base C304 by screws, and each linear guide pair C305 is equipped with two sliders. The upper cover C306 is mounted on the upper side of the base C304 by screws. The grating scale C308 is mounted on the outer side of the base C304 by screws. One end of the grating scale connecting plate C307 is connected to the grating scale C308 reading head by screws, and the other end of the grating scale connecting plate C307 is connected to the slide 321 by screws. The guide rail clamp B309 is installed on one side of the bottom of the base C304 and is used to clamp the linear guide pair B207.

[0102] Reference Figure 8 、 Figure 9 、 Figure 10 and Figure 11 . The motor drive component C302 includes a servo motor C311, a reducer C312, a reducer frame C313, a coupling C314, a bearing seat C315, a front cover C316, a ball screw pair C317, a rear cover C318 and a deep groove ball bearing C319 and other components. The front cover C316 and the rear cover C318 are mounted on the base C304 by screws. The bearing seat C315 is mounted on the front cover C316 by screws, and the deep groove ball bearing C319 is mounted in the bearing hole of the rear cover C318. The bearing seat C315 and the deep groove ball bearing C319 constrain the ball screw pair C317. The nut of the ball screw pair C317 is connected to the slide 321 by threads. The servo motor C311 and the reducer C312 are connected by threads, and the reducer C312 is positioned by a stop and mounted on the reducer frame C313 by screw connection. The reducer frame C313 is mounted on the front cover C316 by screws. The output shaft of the reducer C312 is connected to the input end of the ball screw pair C317 through the coupling C314.

[0103] Reference Figure 9 、 Figure 10 and Figure 11 The slide assembly 303 comprises a guide rail clamp C320, a slide 321, and an end structure 322. The slide 321 is connected to the slider of the linear guide pair C305 via screws. The guide rail clamp C320 is screwed onto the outside of the slide 321 to clamp the linear guide pair C305. The end structure 322 is attached to the lower end of the slide 321 via screws and pins. This end structure 322 connects to intersections and other components that require product positioning and can be replaced based on actual needs.

[0104] Reference Figure 8 、 Figure 9 、 Figure 10 and Figure 11 The operating principle of the Z-segment 300 is as follows: a servo motor C311 drives a ball screw assembly C317 through a reducer C312, causing the nut of the ball screw assembly C317 to move linearly along the Z-axis. The slide 321, connected to the nut of the ball screw assembly C317, moves along the Z-axis under the constraints of the linear guide assembly C305, thereby driving the terminal structure 322 to move linearly along the Z-axis.

[0105] Reference Figures 1 to 11 The CNC positioner's terminal structure 322 is adjusted as follows: the X-segment 100, driven by servo motor A123, drives the terminal structure 322 for linear motion along the X-axis. The Y-segment 200, driven by servo motor B201, drives the terminal structure 322 for linear motion along the Y-axis. The Z-segment 300, driven by servo motor C311, drives the terminal structure 322 for linear motion along the Z-axis. Therefore, the terminal structure 322 has three degrees of freedom in space. After the spatial position of the terminal structure 322 is adjusted, servo motors A123, B201, and C311 are powered off and automatically engaged. Guide rail clamps A110, B309, and C320 are manually tightened to lock the terminal structure 322 in place. After the operation is completed, the guide rail clamp A110, guide rail clamp B309 and guide rail clamp C320 are released, and the servo motor A123, servo motor B201 and servo motor C311 are powered on. Under the drive of the servo motor A123, servo motor B201 and servo motor C311, the spatial position of the terminal structure 322 is restored to its original position, making it easier for the product to be removed from the shelf.

[0106] Reference Figure 14 The workflow for a jig equipped with a CNC positioner is as follows: after assembly begins, the system powers on and performs a self-test. A sensor system, comprised of scanners, laser trackers, and mechanical sensors, monitors the status of the product on the jig in real time and uploads the data to an industrial computer. After processing the data, the industrial computer determines the spatial position of the CNC positioner's end. The PLC and servo drive then drive the positioner to adjust the end position. Once the product is confirmed on the jig, all degrees of freedom of the CNC positioner are fully locked, and the end positioner is locked. Upon completion of assembly, the end positioner returns to its original position, freeing up space for the product to be removed from the jig.

[0107] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art may make various modifications or substitutions within the technical scope disclosed in the present invention, and all such modifications or substitutions shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A three-degree-of-freedom CNC positioner that can be used for aircraft assembly jigs, characterized in that: The three-degree-of-freedom numerically controlled positioner has three mutually perpendicular displacement degrees of freedom; It consists of three parts: X segment (100), Y segment (200) and Z segment (300); The linear directions of the movable parts of the X segment (100), the Y segment (200) and the Z segment (300) are defined as the X axis, the Y axis and the Z axis respectively; The X section (100) is composed of a base component A (101), a ram component (102) and a motor drive component A (103); The Y section (200) is composed of a servo motor B (201), a reducer B (202), a reducer frame B (203), a coupling B (204), a front cover B (205), an upper cover B (206), a linear guide pair B (207), a rear cover B (208), a deep groove ball bearing B (209), a base B (210), a grating ruler connecting plate B (211), a grating ruler B (212), a ball screw pair B (213), and a bearing seat B (214); The Z segment (300) is composed of a base component C (301), a motor drive component C (302) and a slide component (303).

2. The three-degree-of-freedom CNC positioner for aircraft assembly jigs according to claim 1, characterized in that: Driven by the motor drive component A (103), the ram component (102) can slide relative to the base component A (101) in the X-axis direction; The base component A (101) is composed of a base A (104), an outer plate A1 (105), an outer plate A2 (106), an outer plate A3 (109), a limit screw (107), an upper cover A (108), a guide rail clamp A (110), a front cover A1 (111), a front cover A2 (112), a grating ruler connecting plate A (113), a grating ruler A (114), a handle (115) and a square ring (116); The base A (104) is mounted on an aircraft assembly jig or other supporting structure by screws and pins; The outer plate A1 (105), outer plate A2 (106), outer plate A3 (109), square ring (116) and base A (104) are positioned by bosses on their own structures and connected to each other by screws and pins to form a whole; The two guide rail clamps A (110) are respectively mounted on the outer plate A1 (105) and the outer plate A3 (109) by screws, and are used to clamp the linear guide rail pair A (118); The grating ruler A (114) is mounted on the outside of the outer plate A1 (105) by screws, and the reading head of the grating ruler A (114) is connected to the grating ruler connecting plate A (113) by screws; The grating ruler connecting plate A (113) is mounted on the base B (209) of the Y segment (200) by screws; The front cover A1 (111) and the front cover A2 (112) are screwed to the sides of the outer stand A1 (105) and the outer stand A3 (109); The upper cover plate A (108) is mounted on the square ring (116) by screws; The three handles (115) are respectively mounted on the outer plate A1 (105), the outer plate A2 (106) and the outer plate A3 (109) by screws; The limiting screw (107) is screwed into the threaded hole on the outer plate A2 (106) and sunk into the groove on the ram block (117), thereby achieving hard limiting of the ram assembly (102); The ram assembly (102) is composed of a ram block (117), a linear guide pair A (118) and a nut seat A (119); There are three linear guide rail pairs A (118), each linear guide rail pair A (118) is equipped with two sliders, and the three linear guide rail pairs A (118) sliders are mounted on the outer vertical plate A1 (105), the outer vertical plate A2 (106) and the outer vertical plate A3 (109) by screws; The three linear guide rail pairs A (118) are mounted on the ram block (117) by screws; The nut seat A (119) is positioned by a stop and connected to the ram block (117) by screws; The motor drive assembly A (103) includes a support frame (120), a reducer frame A (121), a reducer A (122), a servo motor A (123), a bearing seat A1 (124), a ball screw pair A (125) and a bearing seat A2 (126); The bearing seat A1 (124) and the bearing seat A2 (126) are mounted on the support frame (120) by screws, the ball screw pair A (125) is constrained by the bearing seat A1 (124) and the bearing seat A2 (126), and the nut of the ball screw pair A (125) is connected to the nut seat A (119) by screws; The output hole of the reducer A (122) and the input end of the ball screw pair A (125) are connected via a flat key; The output end of the reducer A (122) is mounted on the reducer frame A (121) by screws, and the reducer frame A (121) is connected to the support frame (120) by screws; The servo motor A (123) is mounted on the input end of the reducer A (122) by screws.

3. The three-degree-of-freedom CNC positioner for aircraft assembly jigs according to claim 2, characterized in that: The servo motor A (123) drives the ball screw pair A (125) to rotate through the reducer A (122), and the nut of the ball screw pair A (125) performs linear motion along the X direction. Under the constraint of the linear guide pair A (118), the nut seat A (119) drives the slide assembly (102) to perform linear motion along the X direction, thereby driving the Y segment (200) and the Z segment (300) to perform linear motion along the X direction.

4. The three-degree-of-freedom numerical control positioner applicable to an aircraft assembly jig according to claim 1, characterized in that: The base B (210) is positioned by a stop and mounted on the ram block (117) using screws and pins; The two linear guide rail pairs B (207) are respectively mounted on both sides of the base B (210) by screws, and each linear guide rail pair B (207) is equipped with two sliders; The front cover plate B (205), the upper cover plate B (206) and the rear cover plate B (208) are respectively mounted on the base B (210) by screws; The deep groove ball bearing B (209) is installed in the bearing hole of the rear cover plate B (208), and the bearing seat B (214) is installed on the front cover plate B (205) by screws. The deep groove ball bearing B (209) and the bearing seat B (214) constrain the ball screw pair B (213), and the ball screw pair B (213) is connected to the bearing seat B (310) of the Z section (300) by screws. The reducer frame B (203) is mounted on the front cover plate B (205) by screws; The servo motor B (201) and the reducer B (202) are connected by screws, and the reducer B (202) is mounted on the reducer frame B (203) by screws; The output shaft of the reducer B (202) is connected to the input end of the ball screw pair B (213) through a coupling B (204).

5. The three-degree-of-freedom numerical control positioner applicable to aircraft assembly jigs according to claim 4, characterized in that: The servo motor B (201) drives the ball screw pair B (213) to rotate through the reducer B (202), and the nut of the ball screw pair B (213) performs linear motion along the Y direction. Under the constraint of the linear guide pair B (207), the bearing seat B (310) drives the Z segment (300) to perform linear motion along the Y axis.

6. The three-degree-of-freedom numerical control positioner applicable to aircraft assembly jigs according to claim 1, characterized in that: The base component C (301) includes a base C (304), a linear guide pair C (305), an upper cover C (306), a grating ruler connecting plate C (307), a grating ruler C (308), a guide rail clamp B (309) and a nut seat B (310); The base C (304) is mounted on the slider of the linear guide pair B (207) by screws; The nut seat B (310) is mounted on the base C (304) by screws and is connected to the nut of the ball screw pair B (213) by screws; The linear guide rail pair C (305) is installed on both sides of the interior of the base C (304) by screws, and each linear guide rail pair C (305) is equipped with two sliders; The upper cover C (306) is mounted on the upper side of the base C (304) by screws; The grating ruler C (308) is mounted on an outer side of the base C (304) by screws; One end of the grating ruler connecting plate C (307) is connected to the reading head of the grating ruler C (308) by screws, and the other end of the grating ruler connecting plate C (307) is connected to the slide (321) by screws; The guide rail clamper B (309) is installed on one side of the bottom of the base C (304) and is used to clamp the linear guide rail pair B (207); The motor drive component C (302) includes a servo motor C (311), a reducer C (312), a reducer frame C (313), a coupling C (314), a bearing seat C (315), a front cover C (316), a ball screw pair C (317), a rear cover C (318) and a deep groove ball bearing C (319); The front cover plate C (316) and the rear cover plate C (318) are mounted on the base C (304) by screws; The bearing seat C (315) is mounted on the front cover plate C (316) by screws, and the deep groove ball bearing C (319) is mounted in the bearing hole of the rear cover plate C (318). The bearing seat C (315) and the deep groove ball bearing C (319) constrain the ball screw pair C (317); The nut of the ball screw pair C (317) is connected to the slide seat (321) via a thread; The servo motor C (311) and the reducer C (312) are connected by threads, and the reducer C (312) is positioned by a stop and installed on the reducer frame C (313) by screw connection; The reducer frame C (313) is mounted on the front cover C (316) by screws; The output shaft of the reducer C (312) is connected to the input end of the ball screw pair C (317) through a coupling C (314); The slide assembly (303) includes a guide rail clamp C (320), a slide (321) and an end structure (322); The slide seat (321) is connected to the slider of the linear guide pair C (305) via screws; The guide rail clamp C (320) is mounted on the outside of the slide (321) by screws and is used to clamp the linear guide rail pair C (305); The terminal structure (322) is mounted on the lower end of the slide (321) by means of screws and pins. The terminal structure (322) is used to connect structures such as intersections where the product needs to be positioned, and can be replaced according to actual use requirements.

7. The three-degree-of-freedom numerical control positioner applicable to aircraft assembly jigs according to claim 6, characterized in that: The servo motor C (311) drives the ball screw pair C (317) to rotate through the reducer C (312), and the nut of the ball screw pair C (317) moves linearly along the Z axis. The slide (321) connected to the nut of the ball screw pair C (317) moves along the Z axis under the constraint of the linear guide pair C (305), thereby driving the terminal structure (322) to move linearly along the Z axis.

8. A method for using the three-degree-of-freedom numerical control positioner for aircraft assembly jigs according to any one of claims 1 to 7, characterized in that: The following steps are involved: The spatial position of the terminal structure (322) is adjusted. After the adjustment is completed, the servo motor A (123), the servo motor B (201) and the servo motor C (311) are powered off and automatically braked. The guide rail clamp A (110), the guide rail clamp B (309) and the guide rail clamp C (320) are manually tightened to lock the spatial position of the terminal structure (322). After the operation is completed, the guide rail clamp A (110), the guide rail clamp B (309) and the guide rail clamp C (320) are released. The servo motor A (123), the servo motor B (201) and the servo motor C (311) are then powered on. Under the drive of the servo motor A (123), the servo motor B (201) and the servo motor C (311), the spatial position of the terminal structure (322) is restored to its original position, so that the product can be taken off the shelf.

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