A flat tail docking device

Abstract

The present application belongs to the technical field of aircraft manufacturing, and discloses a flat tail butt joint device. The device comprises a sliding seat and a sliding table. The sliding seat is placed on the ground, and the sliding table moves linearly on the sliding seat. The sliding table is provided with a first hinged seat, a second hinged seat and a third hinged seat. The first hinged seat is provided with a first hinged ball, the second hinged seat is provided with a second hinged ball, and the third hinged seat is provided with a third hinged ball. The first hinged ball, the second hinged ball and the third hinged ball are hinged to a frame, and the frame is provided with a flat tail. The device solves the problems of the prior art, such as large space occupation, high cost and stress on the flat tail.

Description

Technical Field

[0001] This invention relates to the field of aircraft manufacturing technology, and in particular to a horizontal stabilizer docking device. Background Technology

[0002] The horizontal stabilizer is an important component of the aircraft's tail section, significantly impacting flight performance and stability. Horizontal stabilizer docking is the process of precisely aligning the left and right horizontal stabilizers and the central connecting structure. This process requires ensuring that the positions and attitudes of these components meet design requirements.

[0003] Currently, common CNC attitude adjustment and docking devices for horizontal stabilizer products typically consist of three CNC positioners arranged in a triangle. The drive axes of these three positioners are either fully active or arranged in a "3-2-1" configuration. In the fully active configuration, all three axes of the three positioners are drive axes, allowing each positioner to adjust freely in three-dimensional space. However, this method suffers from significant drive waste and high installation and maintenance costs. Because each positioner needs to actively adjust during the driving process, if the simultaneous adjustment of the positioners results in misalignment and incorrect positioning, substantial stress can easily occur on the horizontal stabilizer body during attitude adjustment. The “3-2-1” positioning method allows for a gradual decrease in the number of directions of movement on each drive shaft, enabling flat-tail products to move in six degrees of freedom. However, the docking direction travel is relatively long during flat-tail docking, and after adjusting the position and attitude of the left and right horizontal stabilizers to the target docking position, the left and right horizontal stabilizers need to be moved away from and reset multiple times from the target docking position according to assembly needs before the docking work is completed. If the above-mentioned “3-2-1” attitude adjustment docking method is adopted, a large space will be required to lay out the positioners and sliding tracks that move towards the docking position, and repeated adjustments are required during the movement to avoid errors. Summary of the Invention

[0004] The purpose of this invention is to provide a flat-tail docking device that solves the problems of existing flat-tail CNC attitude adjustment docking devices for products having large space requirements, high costs, and the tendency to generate stress on the flat tail.

[0005] To achieve this objective, the present invention adopts the following technical solution: The present invention provides a flat-tail docking device, including a sliding seat and a sliding platform. The sliding seat is placed on the ground, and the sliding platform reciprocates along a straight line on the sliding seat. A first hinge seat, a second hinge seat, and a third hinge seat are mounted on the sliding platform. The direction of movement of the sliding platform is set as the Y-axis, the direction perpendicular to the ground is set as the Z-axis, the X-axis is perpendicular to the Y-axis, and the X-axis is also perpendicular to the Z-axis. A first hinge ball is mounted on the first hinge seat, a second hinge ball is mounted on the second hinge seat, and a third hinge ball is mounted on the third hinge seat. The first hinge ball, the second hinge ball, and the third hinge ball are simultaneously hinged to a frame. A flat tail is mounted on the frame. The first hinge ball moves along the X-axis and Z-axis via a drive assembly and is locked in the Y-axis direction. The second hinge ball moves along the Z-axis via a drive assembly and follows along the X-axis and Y-axis directions. The third hinge ball moves along the X-axis and Z-axis via a drive assembly and follows along the Y-axis direction.

[0006] Preferably, the drive assembly includes a first motor and a second motor. A first lead screw is rotatably mounted on the first hinge seat along the Z-axis. The first motor drives the first lead screw to rotate. A first tray is screwed onto the first lead screw. A second motor is mounted on the first tray. The second motor drives a second lead screw to rotate in the X-axis direction. The second lead screw is screwed into the second tray. A first hinge ball is fixed on the second tray.

[0007] Preferably, the drive assembly includes a third motor, a third lead screw rotatably mounted on the second hinge seat along the Z-axis, the third motor driving the third lead screw to rotate, a third tray screwly connected to the third lead screw, a first slide rail mounted on the third tray along the X-axis, a fourth tray slidably mounted on the first slide rail, a second slide rail mounted on the fourth tray along the Y-axis, and a second hinge ball slidably mounted on the second slide rail.

[0008] Preferably, the drive assembly includes a fourth motor and a fifth motor. A fourth lead screw is rotatably mounted on the third hinge seat along the Z-axis. The fourth motor drives the fourth lead screw to rotate. A fifth tray is screwed onto the fourth lead screw. A fifth motor is mounted on the fifth tray. The fifth motor drives the fifth lead screw to rotate in the X-axis direction. The fifth lead screw is screwed into a sixth tray. A third guide rail along the Y-axis direction is slidably mounted on the sixth tray. A third hinge ball is slidably mounted on the third guide rail.

[0009] Preferably, abutment components are installed on both sides of the frame. Each abutment component includes a bracket, and an abutment rod is screwed onto the bracket. The abutment rod abuts against the side of the flat tail.

[0010] Preferably, a suction cup is mounted on the frame, and the suction cup is connected to the vacuum generator through a vacuum tube.

[0011] Preferably, the frame is equipped with five rows of suction cups, and the vacuum generator comprises two sets, one set of which is connected to two rows of suction cups, and the other set of which is connected to three rows of suction cups.

[0012] Preferably, a positioning element is slidably mounted on the side of the frame along the Z-axis direction, and the positioning element abuts against the flat tail.

[0013] Preferably, the sliding seat is equipped with a rack along the Y-axis, the bottom of the sliding table is equipped with a drive motor, and the front end of the drive motor is equipped with a gear that meshes with the rack.

[0014] Preferably, a laser tracker is installed next to the sliding seat, and a target ball seat is installed on the flat tail of the sliding table. The laser tracker can capture the position of the target ball seat.

[0015] Beneficial effects: Placing a first hinge seat, a second hinge seat, and a third hinge seat on the sliding platform allows the sliding platform to move synchronously on the sliding seats, avoiding stress caused by independent movement of the horizontal stabilizer connection device. Simultaneously, two sets of drive devices in different directions are installed on the first and second hinge seats, enabling the first and second hinge balls to move actively along the X and Z axes. Only one set of drive devices is installed on the third hinge seat, allowing the third hinge ball to move along the Z axis. This reduces the number of drive devices used, lowering costs. It also allows the horizontal stabilizer to be adjusted in six degrees of freedom: X, Y, Z axes, and around the X, Y, and Z axes, reducing errors during docking between the horizontal stabilizer and the fuselage. Attached Figure Description

[0016] Figure 1 This is a main body diagram of the flat-tail docking device of the present invention;

[0017] Figure 2 This is a diagram of the main framework of the present invention;

[0018] Figure 3 This is a diagram of the main body of the sliding table of the present invention;

[0019] Figure 4 This is a schematic diagram of the vacuum generator connection of the present invention.

[0020] In the diagram: 1. First hinge seat; 101. First hinge ball; 2. Second hinge seat; 201. Second hinge ball; 3. Third hinge seat; 301. Third hinge ball; 4. Sliding seat; 5. Sliding table; 6. Frame; 7. First motor; 8. Second motor; 9. First tray; 10. Second tray; 11. Third motor; 12. Third tray; 13. Fourth tray; 14. Fourth motor; 15. Fifth motor; 16. Fifth tray; 17. Sixth tray; 18. Bracket; 19. Abutment rod; 20. Suction cup; 21. Vacuum generator; 22. Positioning component. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0022] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0024] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0025] In the current technology, during the movement of the horizontal stabilizer, three sets of drive components are set on the underside of the horizontal stabilizer, and each set of drive components can move freely in three-dimensional space. The three sets of drive components are arranged in a triangular arrangement and hinged on the underside of the horizontal stabilizer. However, if any set of drive components moves incorrectly, stress will occur on the horizontal stabilizer, causing damage to it. At the same time, the motors that drive the horizontal stabilizer in the direction of installation on the fuselage now require high horsepower, resulting in a large space occupation. In addition, in order to realize the movement adjustment of the horizontal stabilizer in the X, Y, and Z axis directions, as well as the flipping adjustment around the X, Y, and Z axis directions, six sets of motors are required. The large number of motors will also increase the cost of the horizontal stabilizer docking device. If the distance driven by the motor is incorrect, it will cause large stress on the horizontal stabilizer.

[0026] To solve the above problems, such as Figures 1 to 4 As shown, the present invention provides a flat-tail docking device, including a sliding seat 4 and a sliding platform 5. The sliding seat 4 is placed on the ground, and the sliding platform 5 moves back and forth along a straight line on the sliding seat 4. A first hinge seat 1, a second hinge seat 2, and a third hinge seat 3 are installed on the sliding platform 5. The direction of movement of the sliding platform 5 is set as the Y-axis, the direction perpendicular to the ground is set as the Z-axis, and the X-axis is perpendicular to the Y-axis and also perpendicular to the Z-axis. A first hinge ball 101 is installed on the first hinge seat 1, and a second hinge ball 201 is installed on the second hinge seat 2. A third hinge ball 301 is installed on the three-hinged base 3. The first hinge ball 101, the second hinge ball 201 and the third hinge ball 301 are simultaneously hinged to the frame 6. A flat tail is installed on the frame 6. The first hinge ball 101 moves in the X and Z axes by a drive assembly and is locked in the Y axis direction. The second hinge ball 201 moves in the Z axis direction by a drive assembly and follows in the X and Y axes directions. The third hinge ball 301 moves in the X and Z axes directions by a drive assembly and follows in the Y axis direction.

[0027] In the Y-axis direction, that is, the direction in which the horizontal stabilizer moves towards the mounting position, the sliding table 5 moves on the sliding seat 4, enabling the first hinge seat 1, the second hinge seat 2, and the third hinge seat 3 to move synchronously. This avoids stress on the horizontal stabilizer during the movement towards the fuselage, preventing breakage. The power unit driving the sliding table 5 in the Y-axis direction is located on the lower side of the sliding table 5, without occupying additional space. In this invention, different hinge seats require separate motors for driving in different directions. A total of five motors are used for driving in this invention. The first hinge ball 101 can actively move in the X and Z axes, the second hinge ball 201 can actively move in the Z-axis direction, and the third hinge ball 301 can actively move in the X and Z axes. Combined with the movement of the sliding table 5, the horizontal stabilizer can move freely in the X, Y, and Z axes, as well as rotate around the X, Y, and Z axes, allowing it to be mounted on the fuselage at a suitable angle.

[0028] The drive assembly includes a first motor 7 and a second motor 8. A first lead screw is rotatably mounted on the first hinge seat 1 along the Z-axis. The first motor 7 drives the first lead screw to rotate. A first tray 9 is screwed onto the first lead screw. The second motor 8 is mounted on the first tray 9. The second motor 8 drives the second lead screw to rotate in the X-axis direction. The second lead screw is screwed into the second tray 10. A first hinge ball 101 is fixed on the second tray 10.

[0029] The drive assembly includes a third motor 11, a third lead screw rotatably mounted on the second hinge seat 2 along the Z-axis, the third motor 11 drives the third lead screw to rotate, a third tray 12 is screwed onto the third lead screw, a first slide rail along the X-axis is mounted on the third tray 12, a fourth tray 13 is slidably mounted on the first slide rail, a second slide rail along the Y-axis is mounted on the fourth tray 13, and a second hinge ball 201 is slidably mounted on the second slide rail.

[0030] The drive assembly includes a fourth motor 14 and a fifth motor 15. A fourth lead screw is rotatably mounted on the third hinge seat 3 along the Z-axis. The fourth motor 14 drives the fourth lead screw to rotate. A fifth tray 16 is screwed onto the fourth lead screw. The fifth motor 15 is mounted on the fifth tray 16. The fifth motor 15 drives the fifth lead screw to rotate in the X-axis direction. The fifth lead screw is screwed into the sixth tray 17. A third guide rail along the Y-axis direction is slidably mounted on the sixth tray 17. A third hinge ball 301 is slidably mounted on the third guide rail.

[0031] This invention limits the number of motors on each hinge to a minimum, which can reduce the cost of motor use, while also enabling the flat tail to move freely in the X, Y and Z axis directions, as well as rotate around the X, Y and Z axes.

[0032] If the tail needs to rotate around the X-axis, the first motor 7 and the third motor 11 need to be started simultaneously, so that the first tray 9 and the third tray 12 move in the same direction along the Z-axis, while the third hinge seat 3 moves in the Y-axis direction to avoid stress on the tail; or the fourth motor 14 can be started, so that the fifth tray 16 moves in the Z-axis direction, while the third hinge seat 3 moves in the Y-axis direction to avoid stress on the tail.

[0033] If the flat tail needs to rotate around the Y-axis, the first motor 7 and the third motor 11 need to be started simultaneously so that the first tray 9 and the third tray 12 can move in opposite directions on the Z-axis.

[0034] If the tailpiece needs to rotate around the Z-axis, the fifth motor 15 needs to be started to drive the third hinge 3 to move along the X-axis. At the same time, the third hinge 3 moves along the Y-axis. At this time, the second hinge 2 moves along the X-axis and Y-axis. Alternatively, the second motor 8 drives the second tray 10 while the fifth motor 15 drives the sixth tray 17 to move in the opposite direction. At this time, the second hinge 2 moves along the X-axis and Y-axis, and the third hinge 3 moves along the Y-axis. This avoids movement errors and reduces stress on the tailpiece.

[0035] If movement along the X-axis is required, the second motor 8 and the fifth motor 15 simultaneously drive the second tray 10 and the sixth tray 17 to move in the same direction. At this time, the second hinge seat 2 follows along the X-axis. If movement along the Z-axis is required, the first motor 7, the third motor 11 and the fourth motor 14 are started at the same time, so that the first tray 9, the third tray 12 and the fifth tray 16 move in the same direction.

[0036] Abutment components are installed on both sides of the frame 6. The abutment components include brackets 18, and abutment rods 19 are screwed onto the brackets 18. The abutment rods 19 abut against the sides of the flat tail. By abutting against the sides of the flat tail with the abutment rods 19, the flat tail can be stably installed on the frame 6 to prevent it from falling from the top of the frame 6.

[0037] A suction cup 20 is installed on the frame 6. The suction cup 20 is connected to the vacuum generator 21 through a vacuum tube. By connecting the suction cup 20 to the flat tail, the flat tail can be fixed and scratches can be avoided, thus protecting the surface of the flat tail.

[0038] The frame 6 is equipped with five rows of suction cups 20, with several suction cups 20 mounted on each row. The vacuum generator 21 consists of two sets, one set connected to two rows of suction cups 20 and the other set connected to three rows of suction cups 20. The two sets of vacuum generators 21 can alternately control each row of suction cups 20. If one set of vacuum generators 21 fails, the remaining vacuum generators 21 can still adsorb the flat tail.

[0039] A positioning element 22 is slidably installed on the side of the frame 6 along the Z-axis. The positioning element 22 abuts against the flat tail. When the flat tail is installed on the frame 6, the positioning element 22 can pre-position the flat tail relative to the frame 6, reducing the time consumed by subsequent adjustment and docking, and improving docking efficiency.

[0040] A rack is mounted on the sliding base 4 along the Y-axis, and a drive motor is mounted on the bottom of the sliding table 5. A gear is mounted on the front end of the drive motor, and the gear meshes with the rack. If the tailpiece needs to move along the Y-axis, the drive motor is started to move the gear. The rotation of the gear on the rack enables the tailpiece to move in the Y-axis direction. The gear, rack, and drive motor are installed in the space under the sliding table 5, which saves time required for the tailpiece docking device. The drive motor can also drive the sliding table to move via a lead screw drive.

[0041] A laser tracker is installed next to the sliding seat 4 of this invention, and a target ball seat is installed on the flat tail of the sliding stage 5. The laser tracker can detect the position of the target ball seat and generate three-dimensional data. The above structure is prior art and will not be described in detail here. The laser tracker can retrieve the position matrix parameters of the flat tail on the sliding stage 5 and record the position information. The position where the flat tail connects to the frame 6 is the product receiving position. Subsequently, an attitude adjustment position and a docking position are also set on the sliding seat 4. When the flat tail moves from the receiving position to the attitude adjustment position, the laser tracker measures the product coordinate value P, and the target coordinate value of the product is D, D = R × P + T. The matrices R and T are obtained according to the best fit, where R is the rotation matrix and T is the translation matrix. After the attitude adjustment, the sliding stage 5 moves to the docking position, and the coordinate matrix of the docking position is W. The change of the flat tail from the attitude adjustment position to the docking position is W = D + T, where T is the translation matrix. The T-shaped mechanism allows the horizontal stabilizer to be moved away from and reset multiple times from the docking position, streamlining the assembly process. The coordinate rectangle measured by the laser tracker is used to control the movement of the drive components and drive motors via computer, ensuring that the horizontal stabilizer can be accurately installed on the machine body.

[0042] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flat-tail docking device, characterized in that, Includes a sliding seat (4) and a sliding table (5). The sliding seat (4) is placed on the ground, and the sliding table (5) moves back and forth along a straight line on the sliding seat (4). A first hinge seat (1), a second hinge seat (2), and a third hinge seat (3) are installed on the sliding table (5). The direction of movement of the sliding table (5) is set as the Y-axis, the direction perpendicular to the ground is set as the Z-axis, and the X-axis is perpendicular to the Y-axis and also perpendicular to the Z-axis. A first hinge ball (101) is installed on the first hinge seat (1), a second hinge ball (201) is installed on the second hinge seat (2), and the third hinge ball (3) is installed on the third hinge ball (201). A third articulated ball (301) is mounted on the seat (3). The first articulated ball (101), the second articulated ball (201), and the third articulated ball (301) are simultaneously hinged to the frame (6). A flat tail is mounted on the frame (6). The first articulated ball (101) moves along the X and Z axes via a drive assembly and is locked in the Y axis direction. The second articulated ball (201) moves along the Z axis via a drive assembly and follows along the X and Y axes. The third articulated ball (301) moves along the X and Z axes via a drive assembly and follows along the Y axis direction. A suction cup (20) is installed on the frame (6), and the suction cup (20) is connected to the vacuum generator (21) through a vacuum tube; The frame (6) is equipped with five rows of suction cups (20), and the vacuum generator (21) includes two sets, one set of the vacuum generator (21) is connected to two rows of suction cups (20), and the other set of the vacuum generator (21) is connected to three rows of suction cups (20).

2. The flat-tail docking device according to claim 1, characterized in that, The drive assembly includes a first motor (7) and a second motor (8). A first lead screw is rotatably mounted on the first hinge seat (1) along the Z-axis. The first motor (7) drives the first lead screw to rotate. A first tray (9) is screwed onto the first lead screw. A second motor (8) is mounted on the first tray (9). The second motor (8) drives the second lead screw to rotate in the X-axis direction. The second lead screw is screwed into the second tray (10). A first hinge ball (101) is fixed on the second tray (10).

3. The flat-tail docking device according to claim 1, characterized in that, The drive assembly includes a third motor (11), a third lead screw is rotatably mounted on the second hinge seat (2) along the Z-axis, the third motor (11) drives the third lead screw to rotate, a third tray (12) is screwed onto the third lead screw, a first slide rail along the X-axis is mounted on the third tray (12), a fourth tray (13) is slidably mounted on the first slide rail, a second slide rail along the Y-axis is mounted on the fourth tray (13), and a second hinge ball (201) is slidably mounted on the second slide rail.

4. The flat-tail docking device according to claim 1, characterized in that, The drive assembly includes a fourth motor (14) and a fifth motor (15). A fourth lead screw is rotatably mounted on the third hinge seat (3) along the Z-axis. The fourth motor (14) drives the fourth lead screw to rotate. A fifth tray (16) is screwed onto the fourth lead screw. A fifth motor (15) is mounted on the fifth tray (16). The fifth motor (15) drives the fifth lead screw to rotate in the X-axis direction. The fifth lead screw is screwed into a sixth tray (17). A third guide rail along the Y-axis direction is slidably mounted on the sixth tray (17). A third hinge ball (301) is slidably mounted on the third guide rail.

5. The flat-tail docking device according to claim 1, characterized in that, The frame (6) is equipped with abutment components on both sides. The abutment components include a bracket (18) with an abutment rod (19) screwed onto the bracket (18) and the abutment rod (19) abuts against the side of the flat tail.

6. The flat-tail docking device according to claim 1, characterized in that, The frame (6) has a positioning element (22) slidably mounted on its side along the Z-axis direction, and the positioning element (22) abuts against the flat tail.

7. The flat-tail docking device according to claim 1, characterized in that, The sliding seat (4) is equipped with a rack along the Y-axis, and the bottom of the sliding table (5) is equipped with a drive motor. A gear is installed at the front end of the drive motor, and the gear meshes with the rack.

8. The flat-tail docking device according to claim 1, characterized in that, A laser tracker is installed next to the sliding seat (4), and a target ball seat is installed on the flat tail of the sliding stage (5). The laser tracker can capture the position of the target ball seat.

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