Series-parallel robot machining center for aircraft wing machining

Abstract

The invention discloses a series-parallel robot machining center for aircraft wing machining, which comprises a machining table for placing a wing, support frames arranged along the length direction of the wing are arranged on both sides of the machining table, and movable frames capable of moving along the length direction of the support frames are arranged on the support frames. A stairway used for allowing workers to pass through and extending to the ground is annularly arranged on the outer side of the movable frame, a fixing frame is arranged on the inner side of the movable frame, the two sides of the fixing frame are movably connected with the inner wall of the movable frame, a series-parallel robot is arranged on the fixing frame, and a machining head of the series-parallel robot is arranged downwards towards the wings; the fixing frame and the hybrid robot can longitudinally move and can move in the width direction of the wings. The parallel serial robot has the beneficial effects that the requirement for a machining center during wing machining is met, the parallel serial robot can automatically move in a large range, high-precision automatic machining can be conveniently conducted on all positions of the wing, and the machining difficulty is reduced.

Description

Technical Field

[0001] This invention pertains to a hybrid robotic machining center, specifically a hybrid robotic machining center for aircraft wing processing. Background Technology

[0002] Hybrid robots combine the features of serial and parallel robots, possessing advantages such as high precision, large workspace, strong load-bearing capacity, and fast response speed. They provide an effective solution for the high-precision machining and manufacturing of large and complex structural components and have been successfully applied in fields such as high-precision drilling and milling in aerospace and rail transportation, friction stir welding of thick plates in space, and high-precision assembly.

[0003] A hybrid robot is disclosed in Chinese patent application CN221561340U, comprising: a base and a moving platform. A first rotating frame, a second rotating frame, and a third rotating frame are rotatably mounted on the base. A first adjustment device is rotatably mounted on the first rotating frame, a second adjustment device is rotatably mounted on the second rotating frame, and a third adjustment device is rotatably mounted on the third rotating frame. The first, second, and third adjustment devices can be extended and retracted independently. The ends of the first, second, and third adjustment devices are respectively hinged to the moving platform. A swivel head assembly for mounting machining tools is provided on the moving platform.

[0004] In the current aerospace field, the processing of aircraft wings is challenging due to their large size and difficulty in movement. Large processing sites and equipment are required to form large machining centers for automated processing of wings. High-precision processing of large and complex structural components requires a large area, and the large size of the wings necessitates the movement of hybrid robots over a wide range, placing high demands on the machining centers and making the processing difficult. Summary of the Invention

[0005] The purpose of this invention is to provide a hybrid robotic machining center for aircraft wing processing, which solves the problems of high requirements for machining centers and high processing difficulty in the existing technology.

[0006] The above-mentioned technical objective of the present invention is mainly achieved through the following technical solution: a hybrid robot machining center for processing aircraft wings, comprising a machining table for placing the wing, support frames arranged along the length direction of the wing on both sides of the machining table, a movable frame that can move along the length direction of the support frame on the support frame, a staircase extending to the ground for worker passage around the outer side of the movable frame, a fixed frame on the inner side of the movable frame, the fixed frame being movably connected to the inner wall of the movable frame on both sides, a hybrid robot on the fixed frame, the machining head of the hybrid robot being oriented downward toward the wing, and the fixed frame and the hybrid robot being able to move longitudinally and along the width direction of the wing.

[0007] As a further preferred technical solution of the present invention; a first linear guide rail is provided between the top of the support frame and the bottom surface of the movable frame, which is arranged along the moving direction of the movable frame; a movable seat is provided on the inner wall of the movable frame; a second linear guide rail is provided between the movable seat and the movable frame, which is arranged along the width direction of the wing; a movable plate is provided on the end face of the movable seat, which is connected to the side wall of the fixed frame; and a third linear guide rail is provided between the movable seat and the movable plate, which is arranged longitudinally.

[0008] As a further preferred technical solution of the present invention, both sides of the fixed frame are rotatably connected to the movable plate through a rotating shaft. The rotating shaft is provided with an annular toothed ring and an annular receiving groove for accommodating the annular toothed ring, which are coaxially arranged with the rotating shaft and located on the end face of the movable plate. The side wall of the fixed frame is provided with a plurality of connecting parts that slide with the opening of the annular receiving groove and are connected to the end face of the annular toothed ring.

[0009] As a further preferred technical solution of the present invention; a first annular slide rail is provided on the end face of the annular gear ring, a second annular slide rail is provided on the outer side of the annular gear ring, a first annular groove and a second annular groove are provided on the inner wall of the annular receiving groove respectively, which are slidably fitted with the first annular slide rail and the second annular slide rail, and the teeth of the annular gear ring are located on the inner side of the annular gear ring.

[0010] As a further preferred technical solution of the present invention, the movable plate is provided with a fixing groove that communicates with the annular receiving groove and is located inside the annular receiving groove. The fixing groove is provided with a drive gear that meshes with the teeth inside the annular gear ring. The movable plate is provided with a first drive motor for controlling the rotation of the drive gear.

[0011] As a further preferred technical solution of the present invention, an annular limiting groove is provided on the outer circumferential side of the annular receiving groove and is coaxially arranged with the annular receiving groove, and an arc-shaped slider is provided on the side wall of the fixing frame to slide with the annular limiting groove.

[0012] As a further preferred technical solution of the present invention, the end face of the movable plate is provided with a first slot and a second slot arranged along the rotation trajectory of the fixed frame, the first slot and the second slot are symmetrically arranged, and both sides of the fixed frame are provided with a locking block that can move toward the first slot or the second slot and cooperate with the first slot and the second slot.

[0013] As a further preferred technical solution of the present invention, the side wall of the fixing frame is provided with a positioning groove that cooperates with the card block, the inner wall of the positioning groove is provided with a strip-shaped sliding groove arranged along the moving direction of the card block, and the side wall of the card block is provided with a limiting slider that cooperates with the strip-shaped sliding groove.

[0014] As a further preferred technical solution of the present invention; a slot is provided on the adjacent side of the positioning groove, a horizontally rotatable transmission gear is provided in the slot, a tooth set is provided on the side wall of the card block that meshes with the transmission gear and is arranged along the moving direction of the card block, and a second drive motor for driving the transmission gear to rotate is provided at the bottom of the slot.

[0015] Therefore, the present invention has the advantages of meeting the requirements of machining centers when processing airfoils, and the hybrid robot can move automatically over a large range to facilitate high-precision automated processing of various parts of the airfoil, thereby reducing the processing difficulty. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 A schematic diagram of the structure of the movable plate and the fixed frame in operation; Figure 3 yes Figure 1 A structural cross-sectional view of the movable plate in the middle; Figure 4 yes Figure 2 Structural sectional view; Figure 5 yes Figure 4 Enlarged view of the structure at point A in the diagram; Figure 6 yes Figure 1 A structural cross-sectional view of the active panel from another perspective. Detailed Implementation

[0017] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0018] like Figure 1As shown, a hybrid robot machining center for aircraft wing processing includes a machining table 1 for placing the wing, which positions the wing. Support frames 2 are provided on both sides of the machining table 1 along the length of the wing. Movable frames 3, movable along the length of the support frames 2, are mounted on the support frames 2. The support frames 2 are raised on both sides of the machining table 1 to support the movement of the movable frames 3. A staircase 31, extending to the ground, is provided around the outer edge of the movable frames 3 for worker access. The staircase 31 is located around the movable frames 3 and can move with them, facilitating worker access to the movable frames 3 for maintenance or inspection. A fixed frame 4 is provided inside the movable frames 3, with its sides movably connected to the inner wall of the movable frames 3. A hybrid robot 5 is mounted on the fixed frame 4. During processing, the hybrid robot 5 is positioned below the fixed frame 4, with its processing head facing downwards. To facilitate the processing of the wing on the processing table 1 below, the hybrid robot 5, a prior art technology, can perform multi-axis processing, which will not be elaborated here. It can improve processing accuracy. The hybrid robot 5 is fixed on the fixed frame 4, which is fixed inside the movable frame 3. The processing head of the hybrid robot 5 is set downwards towards the wing. The hybrid robot 5 can perform high-precision processing on the wing below. The fixed frame 4 and the hybrid robot 5 can move longitudinally and along the width direction of the wing. The hybrid robot 5 can move longitudinally and laterally on the movable frame 3 through the fixed frame 4, and can also move laterally in another direction through the movement of the movable frame 3 on the support frame 2. This realizes a large-scale automated transfer of the hybrid robot when performing high-precision processing of the wing, thereby increasing the processing range of the hybrid robot, meeting the requirements of the machining center when processing the wing, improving processing accuracy, and reducing processing difficulty.

[0019] like Figure 1As shown, a first linear guide rail 21 is provided between the top of the support frame 2 and the bottom surface of the movable frame 3, arranged along the moving direction of the movable frame 3. A movable seat 32 is provided on the inner wall of the movable frame 3. A second linear guide rail 33 is provided between the movable seat 32 and the movable frame 3, arranged along the width direction of the wing. A movable plate 6 connected to the side wall of the fixed frame 4 is provided on the end face of the movable seat 32. A third linear guide rail 34 is arranged longitudinally between the movable seat 32 and the movable plate 6. The first linear guide rail 21, the second linear guide rail 33, and the third linear guide rail 34 are all existing technologies and will not be described in detail here. Each linear guide rail can be used with stepper motors, cylinder drives, and ball screw drives to achieve linear drive. The first linear guide rail 21 The support frame 2 supports and guides the lateral movement of the movable frame 3 and the stairway 31, allowing them to move stably and smoothly along the first linear guide rail 21. The second linear guide rail 33 supports and guides the lateral movement of the movable seat 32 and the movable plate 6 via the movable frame 3, allowing them to move stably and smoothly along the second linear guide rail 21. The third linear guide rail 34 supports and guides the longitudinal movement of the movable plate 6 and the fixed frame 4 via the movable seat 32, allowing them to move stably and smoothly. The cooperation of these structures enables the hybrid robot to move stably and smoothly over a wide range above the wing, achieving automated processing and reducing processing difficulty.

[0020] like Figures 2-5 As shown, both sides of the fixed frame 4 are rotatably connected to the movable plate 6 via rotating shafts 41. The fixed frame 4 rotates around the rotating shafts 41. When the hybrid robot 5 malfunctions or requires regular maintenance, due to the large size of the hybrid robot 5 and the fact that its lower part is a processing table, the space available for workers to perform maintenance and inspection is small, and it is difficult to move the maintenance and inspection equipment to this position, which is inconvenient for the maintenance and inspection of the hybrid robot 5. However, the setting of the rotating shafts 41 allows the hybrid robot 5 to rotate around the rotating shafts 41 via the fixed frame 4 when maintenance and inspection are required, so that the hybrid robot 5 can be flipped up to the top of the fixed frame 4. Workers can then walk through the stairwell 31 to the sides of the hybrid robot 5 to perform maintenance and inspection, increasing the available space for maintenance and inspection, and making it easier to move the maintenance and inspection equipment to the sides of the hybrid robot 5, making maintenance and inspection more convenient.

[0021] like Figures 2-5As shown, the rotating shaft 41 is surrounded by an annular gear ring 61 coaxially arranged with the rotating shaft 41 and located on the end face of the movable plate 6, and an annular receiving groove 62 for accommodating the annular gear ring 61. The annular gear ring 61 is located inside the annular receiving groove 52 and is coaxially arranged with the rotating shaft 41. The side wall of the fixed frame 4 is provided with multiple connecting parts 42 that slide with the opening of the annular receiving groove 62 and connect to the end face of the annular gear ring 61. Connecting parts 42 are provided on both sides of the fixed frame 4 to connect with the annular gear ring 61, so that the rotation of the annular gear ring 61 can drive the hybrid robot 5 to rotate synchronously through the fixed frame 4. The end face of the annular gear ring 61 is provided with a first annular sliding groove. The annular gear ring 61 has a second annular slide rail 612 on its outer side. The inner wall of the annular receiving groove 62 has a first annular groove 621 and a second annular groove 622 that respectively slide with the first annular slide rail 611 and the second annular slide rail 612. The first annular slide rail 611 slides with the first annular groove 621, and the second annular slide rail 612 slides with the second annular groove 622, thereby providing radial and axial limiting for the annular gear ring 61, enhancing the stability of the annular gear ring 61 within the annular receiving groove 62, and preventing the annular gear ring 61 from shifting and affecting normal rotation or causing damage to the annular gear ring 61. The teeth are located inside the annular gear ring 61. A fixed groove 63, communicating with and located inside the annular receiving groove 62, is provided in the movable plate 6. A drive gear 631, meshing with the teeth inside the annular gear ring 61, is located in the fixed groove 63. A first drive motor 632, used to control the rotation of the drive gear 631, is provided on the movable plate 6. The fixed groove 63 and the drive gear 631 are located inside the annular gear ring 61, allowing the drive gear 631 to maintain meshing with the teeth inside the annular gear ring 61 and making reasonable use of the space inside the annular receiving groove 52. Furthermore, the diameter of the drive gear 631 is smaller than the inner diameter of the annular gear ring 61, thereby achieving speed reduction. The structure reduces the rotational servo of the ring gear 61, achieving high-precision control of the rotational motion of the rotating gear 42 and enhancing drive stability. The drive gear 631 is located on the output shaft of the first drive motor 632. When the first drive motor 632 starts, it can drive the ring gear 61 to rotate around the rotating shaft 41 under the support of the first ring slide rail 611 and the second ring slide rail 612 through the drive gear 631. When the ring gear 61 rotates, it drives the fixed frame 4 to rotate synchronously through the connecting part 42. The fixed frame 4 then drives the hybrid robot 5 to rotate synchronously, so that the hybrid robot 5 is flipped over to the top of the fixed frame 4 for easy maintenance and inspection by workers.

[0022] like Figures 2-5As shown, an annular receiving groove 62 is provided on the outer circumferential side of the annular receiving groove 62, and an annular limiting groove 64 is provided on the outer side of the annular receiving groove 62. The annular limiting groove 64 is coaxial with the annular receiving groove 62 and is located on the outer side of the outer ring of the annular receiving groove 62. The side wall of the fixing frame 4 is provided with an arc-shaped slider 43 that slides with the annular limiting groove 64. The arc-shaped slider 43 slides with the annular limiting groove 64, and two arc-shaped sliders 43 are symmetrically provided on the fixing frame 4 with the rotating shaft 41 as the center, so that the distance between the two arc-shaped sliders 43 is as large as possible. This provides support and guidance for the fixing frame 4 when it rotates, improves the stability and smoothness of the fixing frame 4 when it rotates, strengthens the support strength of the fixing frame 4, improves the stability and reliability of the fixing frame 4 when it rotates, and reduces the support burden of the rotating shaft 41 and the annular gear ring 61 on the fixing frame 4 when it rotates.

[0023] like Figures 4-6As shown, the end face of the movable plate 6 is provided with a first slot 65 and a second slot 66 arranged along the rotation trajectory of the fixed frame 4. The first slot 65 and the second slot 66 are symmetrically arranged on both sides of the rotating shaft 41. They cooperate with the locking block 44 to lock the fixed frame 4 and the hybrid robot at different positions. Both sides of the fixed frame 4 are provided with locking blocks 44 that can move toward the first slot 65 or the second slot 66 and cooperate with the first slot 65 and the second slot 66. When the hybrid robot 5 is facing down, the locking block 44 moves into the first slot 65 to lock the fixed frame 4 and the movable plate 6, thereby enhancing the structural stability of the hybrid robot 5 during processing and preventing damage during processing. If deflection occurs, affecting the machining accuracy of the wing, and maintenance and inspection of the hybrid robot 5 are required, the locking block 44 will move back before the hybrid robot 5 rotates. Once the hybrid robot 5 rotates to an upward position, the locking block 44 will move into the second locking slot 66, locking the fixed frame 4 and the movable plate 6. This strengthens the structural stability of the hybrid robot 5 during maintenance and inspection, preventing deflection that could affect worker operations or cause accidents. The fixed frame 4 has a positioning groove 45 on its side wall that mates with the locking block 44. The inner wall of the positioning groove 45 has a strip-shaped sliding groove 451 along the moving direction of the locking block 44. The side wall of the locking block 44 has a limiting groove 451 that mates with the strip-shaped sliding groove 451. The positioning slider 441, positioning groove 45, strip groove 451, and limiting slider 441 cooperating with strip groove 451 can limit and guide the movement of the locking block 44, preventing the locking block 44 from deviating and failing to enter the first locking groove 65 or the second locking groove 66, thus enhancing the stability of the locking block 44 during movement. A slot 452 is provided adjacent to the positioning groove 45, and a horizontally rotatable transmission gear 453 is provided within the slot 452. A toothed assembly 442 is provided on the side wall of the locking block 44, meshing with the transmission gear 453 and arranged along the moving direction of the locking block 44. The transmission gear 453 can mesh with the toothed assembly 442 on the side wall of the locking block 44 within the slot 452, allowing the transmission gear 453 to rotate by engaging with the toothed assembly 442. When engaged, the drive block 44 reciprocates along the setting direction of the gear set 442 toward the first slot 65 and the second slot 66. The bottom of the slot 452 is provided with a second drive motor 454 for driving the transmission gear 453 to rotate. The transmission gear 453 is located on the output shaft of the second drive motor 454. When the second drive motor 454 is started, it can drive the transmission gear 453 to rotate. When the transmission gear 453 rotates, it can drive the block 44 to move synchronously toward the first slot 65 or the second slot 66 and drive the block 44 to leave the first slot 65 or the second slot 66. Thus, the locking and unlocking functions of the hybrid robot 5 in different states are realized by the insertion of the block 44 into the first slot 65 or the second slot 66.

[0024] The above embodiments are preferred implementations of the present invention. In addition, the present invention can be implemented in other ways. Any obvious substitutions without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A hybrid robotic machining center for processing aircraft wings, comprising a machining table (1) for placing the wings, characterized in that: The processing table (1) is provided with support frames (2) on both sides along the length of the wing. The support frames (2) are provided with movable frames (3) that can move along the length of the support frames (2). The outer side of the movable frames (3) is provided with stairways (31) for workers to pass through and extending to the ground. The inner side of the movable frames (3) is provided with fixed frames (4). The two sides of the fixed frames (4) are movably connected to the inner wall of the movable frames (3). The fixed frames (4) are provided with hybrid robots (5). The processing head of the hybrid robots (5) is set downward toward the wing. The fixed frames (4) and the hybrid robots (5) can move longitudinally and can move along the width of the wing.

2. The hybrid robotic machining center for aircraft wing processing according to claim 1, characterized in that: A first linear guide rail (21) is provided between the top of the support frame (2) and the bottom of the movable frame (3) along the moving direction of the movable frame (3). A movable seat (32) is provided on the inner wall of the movable frame (3). A second linear guide rail (33) is provided between the movable seat (32) and the movable frame (3) along the width direction of the wing. A movable plate (6) is provided on the end face of the movable seat (32) and connected to the side wall of the fixed frame (4). A third linear guide rail (34) is provided between the movable seat (32) and the movable plate (6) in a longitudinal direction.

3. The hybrid robotic machining center for aircraft wing processing according to claim 1, characterized in that: Both sides of the fixed frame (4) are rotatably connected to the movable plate (6) via a rotating shaft (41). The rotating shaft (41) is provided with an annular toothed ring (61) coaxially with the rotating shaft (41) and located on the end face of the movable plate (6), and an annular receiving groove (62) for accommodating the annular toothed ring (61). The side wall of the fixed frame (4) is provided with multiple connecting parts (42) that slide with the opening of the annular receiving groove (62) and are connected to the end face of the annular toothed ring (61).

4. The hybrid robotic machining center for aircraft wing processing according to claim 3, characterized in that: The annular toothed ring (61) is provided with a first annular slide rail (611) on its end face, and a second annular slide rail (612) is provided on the outer side of the annular toothed ring (61). The inner wall of the annular receiving groove (62) is provided with a first annular slide groove (621) and a second annular slide groove (622) that respectively slidably engage with the first annular slide rail (611) and the second annular slide rail (612). The teeth of the annular toothed ring (61) are located on the inner side of the annular toothed ring (61).

5. The hybrid robotic machining center for aircraft wing processing according to claim 4, characterized in that: The movable plate (6) is provided with a fixed groove (63) that communicates with the annular receiving groove (62) and is located inside the annular receiving groove (62). The fixed groove (63) is provided with a drive gear (631) that meshes with the teeth inside the annular gear ring (61). The movable plate (6) is provided with a first drive motor (632) for controlling the rotation of the drive gear (631).

6. The hybrid robotic machining center for aircraft wing processing according to claim 3, characterized in that: The annular receiving groove (62) is provided with an annular limiting groove (64) coaxially arranged with the annular receiving groove (62) on its outer circumferential side, and the fixed frame (4) is provided with an arc-shaped slider (43) that slides with the annular limiting groove (64) on its side wall.

7. The hybrid robotic machining center for aircraft wing processing according to claim 1, characterized in that: The end face of the movable plate (6) is provided with a first slot (65) and a second slot (66) arranged along the rotation trajectory of the fixed frame (4). The first slot (65) and the second slot (66) are symmetrically arranged. Both sides of the fixed frame (4) are provided with a locking block (44) that can move toward the first slot (65) or the second slot (66) and cooperate with the first slot (65) and the second slot (66).

8. The hybrid robotic machining center for aircraft wing processing according to claim 7, characterized in that: The fixing frame (4) has a positioning groove (45) on its side wall that cooperates with the locking block (44). The inner wall of the positioning groove (45) has a strip groove (451) arranged along the moving direction of the locking block (44). The side wall of the locking block (44) has a limiting slider (441) that cooperates with the strip groove (451).

9. The hybrid robotic machining center for aircraft wing processing according to claim 8, characterized in that: The positioning groove (45) is provided with a slot (452) on the adjacent side. A horizontally rotatable transmission gear (453) is provided in the slot (452). A gear set (442) is provided on the side wall of the locking block (44) to mesh with the transmission gear (453) and to be arranged along the moving direction of the locking block (44). A second drive motor (454) for driving the transmission gear (453) to rotate is provided at the bottom of the slot (452).

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