A three-degree-of-freedom CNC positioner that can be used for aircraft assembly jigs

Abstract

This invention belongs to the assembly field of aerospace manufacturing engineering, and relates to a three-degree-of-freedom CNC positioner that can be used for aircraft assembly jigs. The CNC positioner can also be used in other process equipment related to aerospace manufacturing. It employs automation technology, installing the CNC positioner on the jig or other supporting structure according to specifications. The position of the positioner's end effector can be adjusted via a CNC system. It has a certain spatial adjustment range, can match various working conditions, has a certain degree of flexibility, and avoids redundant design of the positioner. It has high positioning accuracy and repeatability, and strong position holding capability. It can be used in combination, dynamically adjusting the end effector positions of each CNC positioner on the jig according to actual conditions. External force sensors can also be added to achieve force feedback control during the assembly process, reducing assembly errors and stress.

Description

Technical Field

[0001] This invention belongs to the assembly field of aerospace manufacturing engineering, and relates to a three-degree-of-freedom CNC positioner that can be used for aircraft assembly jigs. The CNC positioner can also be used for other process equipment related to aerospace manufacturing. Background Technology

[0002] In aircraft assembly, positioners are used to determine the accurate location of product positioning points. Traditional positioners are purely mechanical structures, with the end position of the positioner generally fixed or having only one degree of displacement freedom. They have low flexibility, lack position adjustment capabilities, and may deviate from the position of the positioner end due to factors such as jig assembly errors, thereby causing assembly stress in the product during assembly.

[0003] Nanjing University of Aeronautics and Astronautics proposed a flexible positioner and a method for assembling composite wing boxes using it (CN109552663A). The proposed flexible positioner uses a flexible ball joint in conjunction with a positioning plate as the main positioning structure. By adjusting the position of the ball joint, the position of the positioning plate can be quickly switched, which helps improve positioning efficiency. However, this positioner requires manual adjustment and has only one degree of displacement freedom. Zhejiang University proposed a CNC positioner for aircraft wing panels (CN107161355A). This CNC positioner can adaptively adjust to wing deformation caused by temperature, thereby improving assembly quality. However, this CNC positioner is relatively large and difficult to apply on assembly jigs.

[0004] In general, the existing number of games has the following shortcomings:

[0005] (1) The ends of existing mechanical positioners used for assembly frames are generally fixed or have only one degree of displacement freedom, and the ends of the positioners do not have sufficient position adjustment capabilities.

[0006] (2) Existing positioners used for assembly jigs are usually adjusted manually, with a low degree of automation and cannot achieve the ability of multiple positioners to work together.

[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 force sensors, and do not have environmental sensing capabilities.

[0008] (4) Existing CNC positioners have large structural dimensions and limited application scenarios. They are generally used for the attitude adjustment of large components, such as machine body alignment, and have little potential for application on assembly jigs. Summary of the Invention

[0009] According to one aspect of this application, a three-degree-of-freedom CNC positioner is provided for use in aircraft assembly jigs, the three-degree-of-freedom CNC positioner having three mutually perpendicular displacement degrees of freedom;

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

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

[0012] The X segment 100 is composed of a base assembly A101, a slide assembly 102, and a motor drive assembly A103;

[0013] The Y-segment 200 consists of a servo motor B201, a reducer B202, a reducer frame B203, a coupling B204, a front cover plate B205, an upper cover plate B206, a linear guide pair B207, a rear cover plate 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 C301, a motor drive C302, and a slide 303.

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

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

[0017] The base A104 is installed on the aircraft assembly frame or other support structure by screws and pins.

[0018] The outer panel A1105, outer panel A2106, outer panel A3109, square ring 116, and base A104 are positioned by bosses on their own structures and are 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 vertical plate A1105 and the outer vertical plate A3109 by screws, and are used to clamp the linear guide rail pair A118.

[0020] The grating ruler A114 is installed on the outside of the outer panel 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 Y segment 200 by screws;

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

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

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

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

[0026] The slide block 102 consists of a slide block 117, a linear guide pair A118, and a nut seat A119;

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

[0028] The three linear guide rail pairs A118 are mounted on the slide block 117 by screws;

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

[0030] The motor drive assembly A103 comprises a support frame 120, a reducer frame A121, a reducer A122, a servo motor A123, a bearing housing A1124, a ball screw assembly A125, and a bearing housing A2126.

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

[0032] The output port 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 with screws, and the reducer frame A121 is connected to the support frame 120 with 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 assembly A125 to rotate via the reducer A122. The nut of the ball screw assembly A125 moves linearly along the X direction. Under the constraint of the linear guide assembly A118, the nut seat A119 drives the slide assembly 102 to move linearly along the X direction, which in turn 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 is mounted on the slide block 117 using screws and pins;

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

[0037] The front cover plate B205, the upper cover plate B206 and the rear cover plate 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 housing B214 is installed on the front cover plate B205 by screws. The deep groove ball bearing B209 and the bearing housing B214 constrain the ball screw pair B213, and the ball screw pair B213 is connected to the bearing housing B310 of the Z segment 300 by screws.

[0039] The reducer frame B203 is mounted on the front cover plate 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 via coupling B204.

[0042] The servo motor B201 drives the ball screw pair B213 to rotate via the reducer B202. 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 assembly C301 includes a base C304, a linear guide rail pair C305, an upper cover plate C306, a grating ruler connecting plate C307, a grating ruler 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 ball screw pair B213 nut by screws.

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

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

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

[0049] One end of the grating ruler connecting plate C307 is connected to the reading head of the grating ruler C308 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 housing C315, a front cover plate C316, a ball screw pair C317, a rear cover plate C318, and a deep groove ball bearing C319.

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

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

[0054] The ball screw assembly C317 nut is connected to the slide 321 by a thread;

[0055] The servo motor C311 and the reducer C312 are connected by threads. The reducer C312 is positioned by a stop and is installed on the reducer frame C313 by screws.

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

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

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

[0059] The slide block 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 block 321 by screws and is used to clamp the linear guide rail pair C305.

[0061] The end structure 322 is installed at the lower end of the slide block 321 by screws and pins. The end structure 322 is used to connect the intersection and other structures 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 via the reducer C312. The nut of the ball screw pair C317 moves linearly along the Z-axis. The slide block 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 this application, a method for using the above-mentioned three-degree-of-freedom CNC positioner for aircraft assembly jigs is provided, characterized in that...

[0064] Includes the following steps:

[0065] After adjusting the spatial position of the end structure 322, servo motors A123, B201, and C311 are powered off and automatically braked. Guide rail clamps A110, B309, and C320 are manually tightened to lock the spatial position of the end structure 322. After the operation is completed, guide rail clamps A110, B309, and C320 are released. Servo motors A123, B201, and C311 are then powered on, and driven by them, the spatial position of the end structure 322 is restored to its original position, facilitating product removal from the shelf.

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

[0067] The beneficial effects of this invention are:

[0068] (1) The proposed CNC positioner adopts automation technology. The CNC positioner is installed on the frame or other support structure in accordance with the specifications. The position of the end of the positioner can be adjusted through 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 degree of flexibility, avoiding the repetitive 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 capability.

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

[0073] (6) It has strong scalability and modifiability in structure. For example, the CNC positioner has a high load capacity and can be integrated into equipment with lifting and attitude adjustment requirements, such as engine assembly frame vehicles.

[0074] (7) Data can be collected during the assembly process, which is convenient for subsequent process analysis. Attached Figure Description

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

[0076] Figure 2 Schematic diagram of CNC positioner X segment 100;

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

[0078] Figure 4 A schematic diagram of A101, which is the base of the X-segment 100 of the CNC positioner;

[0079] Figure 5 A schematic diagram of the X-segment 100 slide block of a CNC positioner, consisting of 102;

[0080] Figure 6 A schematic diagram of motor drive component A103 for X segment 100 of CNC positioner;

[0081] Figure 7 Schematic diagram of Y-segment 200 of CNC positioner;

[0082] Figure 8 Schematic diagram of Z-segment 300 of CNC positioner;

[0083] Figure 9 Schematic diagram of C301, which is composed of Z-segment 300 base of CNC positioner;

[0084] Figure 10 Schematic diagram of C302, which is the Z-segment 300 motor drive component of CNC positioner;

[0085] Figure 11 Schematic diagram of the Z-segment 300 slide of the CNC positioner;

[0086] Figure 12 Schematic diagram of slide block 117 of X segment 100 of CNC positioner;

[0087] Figure 13 Schematic diagram of the B210 base of the Y-segment 200 CNC positioner;

[0088] Figure 14 This is a flowchart of the CNC positioner's workflow.

[0089] Among them, 100X segment, 101 base component A, 102 slide ram component, 103 motor drive component A, 104 base A, 105 outer panel A1, 106 outer panel A2, 107 limit screw, 108 top cover plate A, 109 outer panel A3, 110 guide rail clamp A, 111 front cover plate A1, 112 front cover plate 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, 200 Y Segment, 201 Servo Motor B, 202 Reducer B, 203 Reducer Frame B, 204 Coupling B, 205 Front Cover Plate B 206 Upper cover plate B, 207 Linear guide pair B, 208 Rear cover plate 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, 300 Z section, 301 Base assembly C, 302 Motor drive assembly C, 303 Slide assembly, 304 Base C, 305 Linear guide pair C, 306 Upper cover plate 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 plate C; 317. Ball screw pair C; 318. Rear cover plate C; 319. Deep groove ball bearing C; 320. Guide rail clamp C; 321. Slide; 322. End structure. Detailed Implementation

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

[0091] Example 1

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

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

[0094] Reference Figure 3 , Figure 4 , Figure 7 and Figure 12 The base assembly A101 comprises a base A104, outer upright plates A1105, A2106, and A3109, a limiting screw 107, an upper cover plate A108, a guide rail clamp A110, a front cover plate A1111, a front cover plate A2112, a grating ruler connecting plate A113, a grating ruler A114, a handle 115, and a square ring 116. The base A104 is mounted on a frame or other supporting structure using screws and pins. The outer upright plates A1105, A2106, A3109, the square ring 116, and the base A104 are positioned by bosses on their own structures and connected to each other using screws and pins to form a whole. Two guide rail clamps A110 are mounted on the outer upright plates A1105 and A3109 respectively using screws to clamp the linear guide rail pair A118. The grating ruler A114 is mounted on the outside of the outer panel A1105 with screws, and the reading head of the grating ruler A114 is connected to the grating ruler connecting plate A113 with screws. The grating ruler connecting plate A113 is mounted on the base B209 of the Y segment 200 with screws. The front cover plate A1111 and the front cover plate A2112 are connected to the sides of the outer panels A1105 and A3109 with screws. The upper cover plate A108 is mounted on the square ring 116 with screws. The three handles 115 are mounted on the outer panels A1105, A2106, and A3109 respectively with screws. The limiting screw 107 is screwed into the groove on the slide block 117 through the threaded hole on the outer panel A2106, thereby achieving a hard limit on the slide block assembly 102.

[0095] Reference Figure 3 , Figure 4 , Figure 5 and Figure 12 The slide block assembly 102 consists of a slide block 117, linear guide pairs A118, and a nut seat A119. There are three linear guide pairs A118, each equipped with two sliders. The sliders of the three linear guide pairs A118 are mounted on the outer uprights A1105, A2106, and A3109 by screws. The three linear guide pairs A118 are mounted on the slide block 117 by screws. The nut seat A119 is positioned by a stop and connected to the slide block 117 by screws.

[0096] Reference Figure 3 , Figure 4 , Figure 5 and Figure 6 The motor drive assembly A103 comprises a support frame 120, a reducer frame A121, a reducer A122, a servo motor A123, a bearing housing A1124, a ball screw assembly A125, and a bearing housing A2126. Bearing housings A1124 and A2126 are mounted on the support frame 120 with screws. The ball screw assembly A125 is constrained by bearing housings A1124 and A2126, and the nut of the ball screw assembly A125 is connected to the nut seat A119 with screws. The output port of the reducer A122 is connected to the input end of the ball screw assembly A125 via a key. The output end of the reducer A122 is mounted on the reducer frame A121 with screws, and the reducer frame A121 is connected to the support frame 120 with screws. The servo motor A123 is mounted on the input end of the reducer A122 with 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. 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, which in turn 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 components such as a servo motor B201, a reducer B202, a reducer frame B203, a coupling B204, a front cover plate B205, an upper cover plate B206, a linear guide pair B207, a rear cover plate 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. The base B210 is positioned by a stop and mounted on the slide block 117 using screws and pins. Two linear guide pairs B207 are respectively mounted on both sides of the base B210 with screws, and each linear guide pair B207 is equipped with two sliders. The front cover plate B205, the upper cover plate B206, and the rear cover plate B208 are respectively mounted on the base B210 with screws. A deep groove ball bearing B209 is installed in the bearing hole of the rear cover plate B208. The bearing housing B214 is mounted on the front cover plate B205 with screws. The deep groove ball bearing B209 and the bearing housing B214 constrain the ball screw assembly B213, which is connected to the bearing housing B310 of segment Z 300 with screws. The reducer bracket B203 is mounted on the front cover plate B205 with screws. The servo motor B201 and the reducer B202 are connected with screws, and the reducer B202 is mounted on the reducer bracket B203 with screws. The output shaft of the reducer B202 is connected to the input end of the ball screw assembly B213 via coupling B204.

[0099] Reference Figure 1 and Figure 7 The working principle of the Y segment 200 is as follows: the servo motor B201 drives the ball screw pair B213 to rotate through the reducer B202. 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 comprises three parts: a base assembly C301, a motor drive assembly C302, and a slide assembly 303.

[0101] Reference Figure 7 , Figure 8 , Figure 9 and Figure 11The base assembly C301 includes a base C304, a linear guide pair C305, an upper cover plate C306, a grating ruler connecting plate C307, a grating ruler C308, a guide rail clamp B309, and a nut seat B310. The base C304 is mounted on the slider of the linear guide pair B307 with screws. The nut seat B310 is mounted on the base C304 with screws and connected to the nut of the ball screw pair B213 with screws. The linear guide pair C305 is mounted on both sides inside the base C304 with screws, and each linear guide pair C305 is equipped with two sliders. The upper cover plate C306 is mounted on the upper side of the base C304 with screws. The grating ruler C308 is mounted on the outer side of the base C304 with screws. One end of the grating ruler connecting plate C307 is connected to the reading head of the grating ruler C308 with screws, and the other end of the grating ruler connecting plate C307 is connected to the slide 321 with screws. 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.

[0102] Reference Figure 8 , Figure 9 , Figure 10 and Figure 11 The motor drive assembly C302 includes a servo motor C311, a reducer C312, a reducer frame C313, a coupling C314, a bearing housing C315, a front cover plate C316, a ball screw assembly C317, a rear cover plate C318, and a deep groove ball bearing C319. The front cover plate C316 and the rear cover plate C318 are mounted on the base C304 with screws. The bearing housing C315 is mounted on the front cover plate C316 with screws. The deep groove ball bearing C319 is installed in the bearing hole of the rear cover plate C318, and the bearing housing C315 and the deep groove ball bearing C319 constrain the ball screw assembly C317. The nut of the ball screw assembly C317 is threadedly connected to the slide block 321. The servo motor C311 and the reducer C312 are threadedly connected. The reducer C312 is positioned by a stop and mounted on the reducer frame C313 with screws. The reducer bracket C313 is mounted on the front cover plate C316 with screws. The output shaft of the reducer C312 is connected to the input end of the ball screw pair C317 via coupling C314.

[0103] Reference Figure 9 , Figure 10 and Figure 11 The slide assembly 303 includes components such as 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 mounted on the outside of the slide 321 via screws to clamp the linear guide pair C305. The end structure 322 is mounted on the lower end of the slide 321 via screws and pins. The end structure 322 is used to connect intersections and other structures requiring product positioning and can be replaced according to actual usage needs.

[0104] Reference Figure 8 , Figure 9 , Figure 10 and Figure 11 The working principle of the Z segment 300 is as follows: 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.

[0105] Reference Figures 1 to 11 The adjustment method of the CNC positioner end structure 322 is as follows: X segment 100, driven by servo motor A123, drives the end structure 322 to move linearly along the X direction. Y segment 200, driven by servo motor B201, drives the end structure 322 to move linearly along the Y-axis. Z segment 300, driven by servo motor C311, drives the end structure 322 to move linearly along the Z-axis. Therefore, the end structure 322 has three degrees of freedom in space. After the spatial position adjustment of the end structure 322 is completed, servo motors A123, B201, and C311 are de-energized and automatically braked. The guide rail clamps A110, B309, and C320 are manually tightened to lock the spatial position of the end structure 322. After the operation is completed, release the guide rail clamps A110, B309, and C320. Then, servo motors A123, B201, and C311 are powered on. Driven by servo motors A123, B201, and C311, the spatial position of the end structure 322 is restored to its original position, making it easy to remove the product from the shelf.

[0106] Reference Figure 14 The workflow of the CNC positioner-equipped jig assembly line is as follows: After assembly begins, the system powers on and performs a self-test. A detection sensor system, consisting of a scanner, laser tracker, and force sensors, monitors the product status on the jig in real time and uploads the data to the industrial computer. The industrial computer processes the data, determines the spatial position of the CNC positioner's end effector, and then drives the positioner via a PLC and servo driver to adjust its position. Once the product is confirmed to be on the jig, all degrees of freedom of the CNC positioner are fully locked, and the end effector is locked. After assembly is complete, the end effector 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 modifications or substitutions made by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope 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 CNC 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 straight directions of the moving parts consisting of X segment (100), Y segment (200) and Z segment (300) are defined as the X-axis, Y-axis and Z-axis, respectively; The X segment (100) is composed of a base assembly A (101), a slide assembly (102), and a motor drive assembly A (103); The Y segment (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 plate B (205), an upper cover plate B (206), a linear guide pair B (207), a rear cover plate 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 assembly C (301), a motor drive assembly C (302), and a slide assembly (303); The base assembly A (101) consists of base A (104), outer upright plate A1 (105), outer upright plate A2 (106), outer upright plate A3 (109), limiting screw (107), upper cover plate A (108), guide rail clamp A (110), front cover plate A1 (111), front cover plate A2 (112), grating ruler connecting plate A (113), grating ruler A (114), handle (115), and square ring (116); The outer panel A1 (105), outer panel A2 (106), outer panel A3 (109), square ring (116) and base A (104) are positioned by protrusions on their own structures and are connected to each other by screws and pins to form a whole; The slide block (102) consists of a slide block (117), a linear guide pair A (118), and a nut seat A (119); There are three linear guide pairs A (118), each of which is equipped with two sliders. The sliders of the three linear guide pairs A (118) are installed on the outer plates A1 (105), A2 (106) and A3 (109) by screws. The three linear guide pairs A (118) are mounted on the slide block (117) by screws; The motor drive assembly A (103) consists of a support frame (120), a reducer frame A (121), a reducer A (122), a servo motor A (123), a bearing housing A1 (124), a ball screw assembly A (125), and a bearing housing A2 (126); The base component C (301) includes a base C (304), a linear guide pair C (305), an upper cover plate 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 motor drive assembly C (302) includes a servo motor C (311), a reducer C (312), a reducer frame C (313), a coupling C (314), a bearing housing C (315), a front cover plate C (316), a ball screw pair C (317), a rear cover plate C (318), and a deep groove ball bearing C (319). The slide assembly (303) includes a guide rail clamp C (320), a slide (321), and an end structure (322).

2. The three-degree-of-freedom CNC positioner for aircraft assembly jigs according to claim 1, characterized in that, Driven by the motor drive assembly A (103), the slide assembly (102) can slide relative to the base assembly A (101) in the X-axis direction; The base A (104) is installed on the aircraft assembly frame or other support structure by means of screws and pins; The two guide rail clamps A (110) are respectively mounted on the outer plate A1 (105) and the outer plate A3 (109) by screws to clamp the linear guide rail pair A (118). The grating ruler A (114) is installed on the outside of the outer panel 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 (210) of the Y segment (200) by screws; The front cover plate A1 (111) and the front cover plate A2 (112) are screwed to the sides of the outer stand plate A1 (105) and the outer stand plate A3 (109); The upper cover plate A (108) is installed onto the square ring (116) by screws; The three handles (115) are respectively installed on the outer panels A1 (105), A2 (106) and A3 (109) by screws; The limiting screw (107) is screwed in through the threaded hole on the outer plate A2 (106) and sunk into the groove on the slide block (117) to achieve hard limiting of the slide assembly (102); The nut seat A (119) is positioned by a stop and connected to the slide block (117) by screws; The bearing housings A1 (124) and A2 (126) are mounted on the support frame (120) by screws. The ball screw pair A (125) is constrained by the bearing housings A1 (124) and A2 (126). The nut of the ball screw pair A (125) is connected to the nut seat A (119) by screws. The output port of the reducer A (122) is connected to the input end of the ball screw pair A (125) 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). The nut of the ball screw pair A (125) moves linearly along the X direction. Under the constraint of the linear guide pair A (118), the nut seat A (119) drives the slide block (102) to move linearly along the X direction, which in turn drives the Y segment (200) and Z segment (300) to move linearly along the X direction.

4. The three-degree-of-freedom CNC positioner for aircraft assembly jigs according to claim 1, characterized in that, The base B (210) is positioned by a stop and mounted on the slide block (117) by screws and pins; The two linear guide pairs B (207) are respectively mounted on both sides of the base B (210) by screws, and each linear guide 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). The ball screw pair B (213) is connected to the nut seat B (310) of the Z segment (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) via coupling B (204).

5. The three-degree-of-freedom CNC positioner for 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). The nut of the ball screw pair B (213) moves linearly along the Y direction. Under the constraint of the linear guide pair B (207), the nut seat B (310) drives the Z segment (300) to move linearly along the Y axis.

6. The three-degree-of-freedom CNC positioner for aircraft assembly jigs according to claim 1, characterized in that, 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 ball screw pair B (213) nut by screws; The linear guide pair C (305) is mounted on both sides of the inner side of the base C (304) by screws, and each linear guide pair C (305) is equipped with two sliders; The upper cover plate C (306) is mounted on the upper side of the base C (304) by screws; The grating ruler C (308) is mounted on the outside of the base C (304) by screws; One end of the grating ruler connecting plate C (307) and the reading head of the grating ruler C (308) are connected 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 clamp B (309) is installed on one side of the bottom of the base C (304) to clamp the linear guide rail pair B (207). The front cover plate C (316) and the rear cover plate C (318) are mounted on the base C (304) by screws; The bearing housing 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 housing C (315) and the deep groove ball bearing C (319) constrain the ball screw pair C (317). The ball screw pair C (317) nut and the slide (321) are connected by threads; The servo motor C (311) and the reducer C (312) are connected by threads. The reducer C (312) is positioned by a stop and is installed on the reducer frame C (313) by screw connection. The reducer bracket C (313) is mounted on the front cover plate 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) via the coupling C (314); The slide block (321) is connected to the slider of the linear guide pair C (305) by 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 end structure (322) is installed at the lower end of the slide (321) by screws and pins. The end structure (322) is used to connect the structure that the product needs to be positioned and can be replaced according to actual usage requirements.

7. The three-degree-of-freedom CNC positioner for 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). 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 end structure (322) to move linearly along the Z-axis.

8. A method of using a three-degree-of-freedom CNC positioner for aircraft assembly jigs as described in any one of claims 1 to 7, characterized in that, Includes the following steps: After adjusting the spatial position of the end structure (322), the servo motors A (123), B (201) and C (311) are de-energized and automatically braked. The guide rail clamps A (110), B (309) and C (320) are manually tightened to lock the spatial position of the end structure (322). After the operation is completed, the guide rail clamps A (110), B (309) and C (320) are released. The servo motors A (123), B (201) and C (311) are then powered on. Driven by the servo motors A (123), B (201) and C (311), the spatial position of the end structure (322) is restored to its original position, making it easy to remove the product from the shelf.

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