High-precision butt joint device for multi-section aviation products

Abstract

The invention relates to a high-precision docking device for a multi-section aviation product, which is characterized in that movable holding assemblies are arranged on two sides of a reference section driving support assembly and two sides of a reference section driven support assembly, a driving support wheel and a driven support wheel are respectively arranged in the middle, movable front-section support sliding frames are arranged on two sides of a front docking section support assembly, and movable rear-section support sliding frames are arranged on two sides of a rear docking section support assembly. The two sides of the rear butt-joint section supporting assembly are provided with movable front-section supporting sliding frames, any front-section supporting sliding frame is provided with a front-section driving wheel, each front-section supporting sliding frame is provided with a third holding assembly, the two sides of the rear butt-joint section supporting assembly are provided with movable rear-section supporting sliding frames, and any rear-section supporting sliding frame is provided with a rear-section driving wheel for driving the rear butt-joint section to rotate. A fourth holding assembly is arranged on each rear-section supporting sliding frame, and the measuring assembly comprises a vision measuring device, an axis measuring device and a seam measuring device which can be adjusted in the radial direction of the base. According to the invention, automatic butt-joint assembly and automatic real-time detection of each section of the aviation product can be realized, and the assembly efficiency and the assembly quality are improved.

Description

Technical Field

[0001] This invention relates to the field of multi-section aerospace product assembly technology, specifically a high-precision docking device for multi-section aerospace products. Background Technology

[0002] For some aerospace products with multiple sections, since these sections are mostly small and thin-walled, docking and installation are currently mostly done manually. This method has the following drawbacks: First, the traditional section docking process requires multiple people to work together, and the docking posture can only be adjusted manually, making precise measurement impossible. In addition, since the product has multiple docking sections, the entire docking process is time-consuming and labor-intensive. Second, the sections contain precision components, and the internal gaps are small when the sections are nested and docked. Furthermore, the docking process cannot be observed from the outside, which can easily lead to damage to the components and render them unusable. Third, there are sealing rings at the joints of the sections. The docking force and position must be accurately controlled during docking to avoid damaging the sealing rings. However, the traditional docking method mainly relies on the experience of assembly workers and lacks quantitative indicators for reference. Summary of the Invention

[0003] The purpose of this invention is to provide a high-precision docking device for multi-section aerospace products, which can realize automatic docking and assembly of various sections of aerospace products and automatic real-time detection, thereby improving assembly efficiency and assembly quality.

[0004] The objective of this invention is achieved through the following technical solution: A high-precision docking device for multi-section aerospace products includes a base. The base has a movable front docking section support assembly at its front end, a movable reference section active support assembly and a movable reference section driven support assembly in its middle, and a movable rear docking section support assembly at its rear end. A movable measuring assembly is located on one side of the base. The reference section active support assembly has movable first gripping assemblies on both sides and an active support wheel in its middle for driving the reference section to rotate. The reference section driven support assembly has movable second gripping assemblies on both sides and a driven support wheel in its middle. The front docking section support assembly has movable front section supports on both sides. The system includes a carriage, with each front support carriage having a front drive wheel for rotating the front docking section, and the remaining front support carriages having front driven wheels. Each front support carriage also has a third holding assembly. The rear docking section support assembly has movable rear support carriages on both sides, with each rear support carriage having a rear drive wheel for rotating the rear docking section, and the remaining rear support carriages having rear driven wheels. Each rear support carriage also has a fourth holding assembly. The measuring assembly includes a visual measuring device, an axis measuring device, and a gap measuring device, all of which are adjustable radially along the base.

[0005] The reference section active support assembly includes a reference section active support slide, which is movably mounted on the base. The upper ends of the reference section active support slide are each provided with a first radial cylinder and an active support slide frame. The active support slide frame is driven to move by the corresponding first radial cylinder. Each of the two active support slide frames is provided with a first holding assembly. An active support wheel seat is provided between the two active support slide frames, and an active support wheel is provided on the active support wheel seat. The reference section active support slide is provided with a reference section roll adjustment assembly, and the active support wheel is driven to rotate by the reference section roll adjustment assembly. Both sides of the reference section active support slide are provided with first contact force sensors, and an active support slider is provided below the first contact force sensors to cooperate with the main slide rail mounted on the base.

[0006] The reference section roll adjustment assembly includes a reference section adjustment motor, a roll drive wheel, an intermediate transmission wheel, and a transmission belt. The reference section active support slide has a first mounting bracket on its lower side, and the reference section adjustment motor is mounted on the first mounting bracket. The roll drive wheel is mounted on the output shaft of the reference section adjustment motor. The intermediate transmission wheel is mounted on the active support wheel seat. The transmission belt passes around the roll drive wheel, the active support wheel, and the intermediate transmission wheel in a closed loop.

[0007] The first, second, third, and fourth gripping components have the same structure, each including a gripping cylinder, a positioning wheel swing arm, a connecting arm, and a gripping positioning wheel. The upper power shaft end of the gripping cylinder is hinged to the lower end of the positioning wheel swing arm, the upper end of the positioning wheel swing arm is provided with the gripping positioning wheel, and the lower end of the connecting arm is hinged to the upper end of the cylinder body of the gripping cylinder, and the upper end is hinged to the positioning wheel swing arm.

[0008] The reference section driven support assembly includes a reference section driven support slide, which is movably mounted on the base. The upper ends of the reference section driven support slide are each provided with a second radial cylinder and a driven support slide, and the driven support slide is driven to move by the corresponding second radial cylinder. Each of the two driven support slides is provided with a second holding assembly. A driven support wheel seat is provided between the two driven support slides, and a driven support wheel is provided on the driven support wheel seat. Second contact force sensors are provided on both sides of the reference section driven support slide, and a driven support slider is provided below the second contact force sensor to cooperate with the main slide rail mounted on the base.

[0009] The front docking section support assembly includes a front support slide, with an active seat at the front end and a driven seat at the rear end. Front support carriages are provided on both sides of the active seat and both sides of the driven seat. A first front drive cylinder is located in the middle of the active seat, and the front support carriages on both sides of the active seat are driven to move by the first front drive cylinder. A second front drive cylinder is located in the middle of the driven seat, and the front support carriages on both sides of the driven seat are driven to move by the second front drive cylinder. A front adjustment assembly is also provided on the front support carriage with the front drive wheel, and the front drive wheel is driven to rotate by the front adjustment assembly.

[0010] The front adjustment assembly includes a front adjustment motor and a front transmission assembly. The front drive wheel is driven to rotate by the front adjustment motor, and the front adjustment motor (401) transmits torque through the front transmission assembly. The front end of the drive seat is provided with a front auxiliary support seat and an auxiliary support cylinder, and the front auxiliary support seat is driven to lift and lower by the auxiliary support cylinder.

[0011] The rear docking section support assembly includes a rear support slide, and rear support carriages are provided on both sides of the rear support slide. A rear drive cylinder is provided in the middle of the rear support slide, and the rear support carriages on both sides of the rear support slide are driven to move by the rear drive cylinder. A rear drive assembly is also provided on the rear support carriage with a rear drive wheel, and the rear drive wheel is driven to rotate by the rear drive assembly.

[0012] The rear drive assembly includes a rear adjustment motor and a rear transmission assembly. The rear drive wheel is driven to rotate by the rear adjustment motor, and the rear adjustment motor transmits torque through the rear transmission assembly.

[0013] A measurement drive module is provided on one side of the base. The measurement component includes a measurement moving frame, which is slidably connected to the base and driven to move by the measurement drive module. A vision drive module, an axis measurement drive module, and a gap measurement drive module are provided on the upper end of the measurement moving frame. The vision measurement device is driven to move by the vision drive module, the axis measurement device is driven to move by the axis measurement drive module, and the gap measurement device is driven to move by the gap measurement drive module.

[0014] The advantages and positive effects of this invention are as follows: This invention utilizes a reference section active support component and a reference section driven support component to support the reference section, a front docking section support component to support the front docking section, and a rear docking section support component to support the rear docking section. Each support component can adjust the position and angle of the corresponding section in real time according to assembly needs to ensure the alignment of the axes of adjacent sections, as well as the positioning pins and positioning slots. Furthermore, since each support component is movably mounted on the base, it can automatically complete the docking by moving the corresponding section after the alignment is completed. Therefore, this invention improves the assembly efficiency and automation level of multi-section aerospace products through the above design.

[0015] This invention features a movable measuring component on one side of the base. When adjacent sections are joined, the measuring component moves to the joining area, and the axis measuring device in the measuring component first extends to detect whether the axes of the two adjacent sections are aligned, in order to avoid the risk of internal components being damaged by scratches during the joining assembly. Then, the vision measuring device in the measuring component extends to measure the positional angle deviation of the positioning pins and positioning grooves at the ends of the two adjacent sections, thereby causing the adjacent sections to rotate and adjust around their own axes according to the detection results, so as to ensure that the positioning pins and positioning grooves at the adjacent ends are aligned. During the joining process of adjacent sections, the first joining force sensor at the lower end of the active support component of the reference section and the second joining force sensor at the lower end of the driven support component of the reference section can detect the joining force of the sections in real time, and the gap measuring device in the measuring component can detect the joining gap of the sections in real time to determine the joining position. Furthermore, the above measures can also avoid damage to the sealing rings at the ends of the sections. Therefore, this invention can ensure the assembly quality through the above design.

[0016] Each support component of the present invention can be moved and adjusted on the base to meet the assembly needs of product segments of different lengths. At the same time, the holding components on both sides of each support component can also be adjusted to meet the assembly needs of product segments of different diameters. Therefore, the present invention is applicable to the assembly of product segments of various specifications, has a wide range of applications, and is flexible in use. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 2 for Figure 1 The left view of the present invention, Figure 3 for Figure 1 Top view of the present invention. Figure 4 for Figure 1 A schematic diagram of the structure of the middle base. Figure 5 for Figure 1 A schematic diagram of the active support component in the middle reference section. Figure 6for Figure 5 A structural cross-sectional view of the active support component in the middle reference section. Figure 7 for Figure 1 A schematic diagram of the driven support assembly in the middle reference section. Figure 8 for Figure 1 A schematic diagram of the support components for the front-to-mid docking section. Figure 9 for Figure 8 A cross-sectional view of the mechanism on the active seat body. Figure 10 for Figure 1 A schematic diagram of the structure of the support components for the mid-to-rear docking section. Figure 11 for Figure 1 A schematic diagram of the structure of the measurement component.

[0018] Wherein, 1 is the base, 101 is the measurement drive module, 1011 is the measurement drive device, 102 is the main slide rail, and 103 is the rack; 2 is the reference section active support assembly, 201 is the first drive motor, 202 is the first drive gear, 203 is the reference section adjustment motor, 2031 is the rolling drive wheel, 204 is the reference section active support slide, 2041 is the first contact force sensor, 2042 is the active support slider, 205 is the active support carriage, 206 is the first radial cylinder, 207 is the first holding assembly, 2071 is the holding positioning wheel, 2072 is the positioning wheel swing arm, 2073 is the connecting arm, 2074 is the holding cylinder, and 208 is the base. 2081 is the active support wheel seat, 2082 is the active support wheel, 2082 is the intermediate transmission wheel, and 209 is the first mounting bracket; 3 is the reference section driven support assembly, 301 is the second drive motor, 302 is the second drive gear, 303 is the second mounting bracket, 304 is the reference section driven support slide, 3041 is the second docking force sensor, 3042 is the driven support slider, 305 is the driven support slide, 306 is the second radial cylinder, 307 is the second holding assembly, 308 is the driven support wheel seat, and 3081 is the driven support wheel; 4 is the front docking section support assembly, 401 is the front section adjustment motor, 402 is the front section auxiliary support seat, and 4021 is the auxiliary support... The components are: 403 (front support slide), 4031 (front driven wheel), 404 (first front drive cylinder), 405 (front drive wheel), 406 (third mounting bracket), 407 (third holding assembly), 408 (second front drive cylinder), 409 (front support slide), 4091 (drive seat), 4092 (driven seat), 4093 (front support slider), 4094 (third drive motor), 4095 (third drive gear), 410 (front transmission assembly); 5 (rear docking section support assembly), 501 (fourth drive motor), 502 (fourth drive gear), 503 (rear support slide), 5031 (rear driven wheel), 504 (rear drive...). The components are: 505 (rear drive wheel), 506 (rear adjustment motor), 507 (fourth holding assembly), 508 (rear auxiliary support wheel), 509 (rear support slide), 5091 (rear support slider), 510 (fourth mounting bracket), and 511 (rear transmission assembly); 6 (measuring assembly), 601 (measuring moving frame), 602 (moving frame slider), 603 (seam measuring drive module), 604 (vision drive module), 6041 (drive device), 605 (vision measuring device), 606 (axis measuring drive module), 607 (axis measuring device), and 608 (seam measuring device); 701 (front docking section), 702 (reference section), and 703 (rear docking section). Detailed Implementation

[0019] The invention will now be described in further detail with reference to the accompanying drawings.

[0020] like Figures 1-11As shown, the present invention includes a base 1, and the base 1 has a movable front docking section support assembly 4 at its front end, a movable reference section active support assembly 2 and a reference section passive support assembly 3 in its middle, and a movable rear docking section support assembly 5 at its rear end. A movable measuring assembly 6 is provided on one side of the base 1. Figure 1 As shown, the multi-section aviation product targeted by the present invention includes a front docking section 701, a reference section 702, and a rear docking section 703. The reference section 702 serves as an assembly reference and is supported and fixed by the reference section active support component 2 and the reference section passive support component 3. The front docking section 701 is supported and fixed by the front docking section support component 4, and the rear docking section 703 is supported and fixed by the rear docking section support component 5.

[0021] like Figures 5-6 As shown, the reference section active support assembly 2 has movable first holding assemblies 207 on both sides and an active support wheel 2081 in the middle for driving the reference section 702 to rotate. Figure 7 As shown, the reference section driven support assembly 3 has movable second holding assemblies 307 on both sides and a driven support wheel 3081 supporting the reference section 702 in the middle; as Figure 8 As shown, the front docking section support assembly 4 has movable front support slides 403 on both sides, and each front support slide 403 is provided with a front drive wheel 405 that drives the front docking section 701 to rotate. The other front support slides 403 are provided with front driven wheels 4031 that support the front docking section 701. Each front support slide 403 is provided with a third holding assembly 407; Figure 10 As shown, the rear docking section support assembly 5 has movable rear support slides 503 on both sides, and each rear support slide 503 is provided with a rear drive wheel 505 to drive the rear docking section 703 to rotate. The remaining rear support slides 503 are provided with rear driven wheels 5031 to support the rear docking section 703. Each rear support slide 503 is provided with a fourth holding assembly 507; Figure 11 As shown, the measuring component 6 includes a visual measuring device 605, an axis measuring device 607, and a gap measuring device 608, and the visual measuring device 605, the axis measuring device 607, and the gap measuring device 608 can all be adjusted and moved radially along the base 1.

[0022] like Figure 1As shown, during operation, the active support wheel 2081 on the active support component 2 of the reference segment supports the lower front end of the reference segment 702, while the first holding component 207 holds the front end of the reference segment 702 from above to fix it. The driven support wheel 3081 on the driven support component 3 of the reference segment supports the lower rear end of the reference segment 702, while the second holding component 307 holds the rear end of the reference segment 702 from above to fix it. The active support wheel 2081 can drive the reference segment 702 to rotate and adjust around its own axis.

[0023] like Figure 1 As shown, when the present invention is in operation, the front driving wheel 405 and the front driven wheel 4031 on the front docking section support assembly 4 jointly support the lower side of the front docking section 701, the third holding assembly 407 holds the front docking section 701 from the top and fixes it, and the front driving wheel 405 can drive the front docking section 701 to rotate and adjust around its own axis.

[0024] like Figure 1 As shown, when the present invention is in operation, the rear drive wheel 505 and the rear driven wheel 5031 on the rear docking section support assembly 5 jointly support the lower side of the rear docking section 703, the fourth holding assembly 507 holds the rear docking section 703 from the top and fixes it, and the rear drive wheel 505 can drive the rear docking section 703 to rotate and adjust around its own axis.

[0025] like Figures 5-6 As shown, in this embodiment, the reference segment active support assembly 2 includes a reference segment active support slide 204, which is movably mounted on the base 1. The upper ends of the reference segment active support slide 204 are each provided with a first radial cylinder 206 and an active support slide 205. The active support slide 205 is driven to move by the corresponding first radial cylinder 206. Each of the two active support slides 205 is provided with a first holding assembly 207. An active support wheel seat 208 is provided between the two active support slides 205, and an active support wheel 2081 is provided on the active support wheel seat 208. The reference segment active support slide 204 is provided with a reference segment roll adjustment assembly, and the active support wheel 2081 is driven to rotate by the reference segment roll adjustment assembly, thereby driving the reference segment 702 to rotate around its own axis.

[0026] like Figures 5-6As shown, in this embodiment, the reference section roll adjustment assembly includes a reference section adjustment motor 203, a roll drive wheel 2031, an intermediate transmission wheel 2082, and a transmission belt. The reference section active support slide 204 has a first mounting bracket 209 on its lower side, and the reference section adjustment motor 203 is mounted on the first mounting bracket 209. The roll drive wheel 2031 is mounted on the output shaft of the reference section adjustment motor 203. The intermediate transmission wheel 2082 is mounted on the active support wheel seat 208. The transmission belt passes around the roll drive wheel 2031, the active support wheel 2081, and the intermediate transmission wheel 2082 in a closed loop.

[0027] like Figures 5-6 As shown, in this embodiment, the first mounting bracket 209 is provided with a first drive motor 201, and the power shaft of the first drive motor 201 is provided with a first drive gear 202, as shown. Figure 1 As shown, the base 1 is provided with a rack 103, and the first drive gear 202 meshes with the rack 103. When the first drive motor 201 drives the first drive gear 202 to rotate along the rack 103, it drives the reference section active support slide 204 to move and adjust on the base 1.

[0028] like Figures 5-6 As shown, in this embodiment, the reference section active support slide 204 is provided with first docking force sensors 2041 on both sides, and the lower side of the first docking force sensor 2041 is provided with an active support slider 2042 that cooperates with the main slide rail 102 provided on the base 1. The first docking force sensor 2041 is used to detect the segment docking force generated when the front end of the reference section 702 docks with the front docking section 701. The first docking force sensor 2041 is a commercially available product. In addition, the upper side of the reference section active support slide 204 is provided with a first radial slide rail, and the lower side of the active support slide 205 is provided with a first radial slider that cooperates with the first radial slide rail, thereby realizing the sliding connection between the active support slide 205 and the reference section active support slide 204.

[0029] like Figure 5As shown, in this embodiment, the first holding component 207 includes a holding cylinder 2074, a positioning wheel swing arm 2072, a connecting arm 2073, and a holding positioning wheel 2071. The holding cylinder 2074 is mounted on the corresponding active support slide 205. The upper power shaft end of the holding cylinder 2074 is hinged to the lower end of the positioning wheel swing arm 2072. The upper end of the positioning wheel swing arm 2072 is provided with the holding positioning wheel 2071. The lower end of the connecting arm 2073 is hinged to the upper end of the cylinder body of the holding cylinder 2074. The upper end of the connecting arm 2073 is hinged to the positioning wheel swing arm 2072. When the power shaft of the holding cylinder 2074 extends, it drives the positioning wheel swing arm 2072 to swing downward to achieve holding and positioning.

[0030] like Figure 7 As shown, in this embodiment, the reference segment driven support assembly 3 includes a reference segment driven support slide 304, and the reference segment driven support slide 304 is movably disposed on the base 1. The upper ends of the reference segment driven support slide 304 are provided with a second radial cylinder 306 and a driven support slide 305 on both sides. The driven support slide 305 is driven to move by the second radial cylinder 306 on the corresponding side. The two driven support slides 305 are each provided with a second holding assembly 307. A driven support wheel seat 308 is provided between the two driven support slides 305, and a driven support wheel 3081 is provided on the driven support wheel seat 308.

[0031] like Figure 7 As shown, in this embodiment, a second mounting bracket 303 is provided on the lower side of the reference section driven support slide 304, and a second drive motor 301 is provided on the second mounting bracket 303. A second drive gear 302 is provided on the power shaft of the second drive motor 301, and the second drive gear 302 meshes with a rack 103 provided on the base 1. When the second drive motor 301 drives the second drive gear 302 to rotate along the rack 103, it drives the reference section driven support slide 304 to move and adjust on the base 1.

[0032] like Figure 7 As shown, in this embodiment, the reference section driven support slide 304 is provided with second docking force sensors 3041 on both sides. A driven support slider 3042 is provided under the second docking force sensor 3041 to cooperate with the main slide rail 102 on the base 1. The second docking force sensor 3041 is used to detect the segment docking force generated when the rear end of the reference section 702 docks with the rear docking section 703. Additionally, the reference section driven support slide 304 is provided with a second radial slide rail, and the driven support slide 305 is provided under the second radial slider to cooperate with the second radial slide rail, thereby realizing the sliding connection between the driven support slide 305 and the reference section driven support slide 304.

[0033] In this embodiment, the structure of the second holding component 307 is the same as that of the first holding component 207.

[0034] like Figures 8-9 As shown, in this embodiment, the front docking section support assembly 4 includes a front support slide 409, and the front support slide 409 has an active seat 4091 at its front end and a driven seat 4092 at its rear end. The active seat 4091 and the driven seat 4092 are provided with front support carriages 403 on both sides. The active seat 4091 has a first front drive cylinder 404 in the middle, and the front support carriages 403 on both sides of the active seat 4091 are driven to move by the first front drive cylinder 404. The driven seat 4092 has a second front drive cylinder 408 in the middle, and the front support carriages 403 on both sides of the driven seat 4092 are driven to move by the second front drive cylinder 408.

[0035] like Figures 8-9 As shown, in this embodiment, a front-end support carriage 403 with a front-end drive wheel 405 is also provided with a front-end adjustment assembly, and the front-end drive wheel 405 is driven to rotate by the front-end adjustment assembly. In this embodiment, the front-end adjustment assembly includes a front-end adjustment motor 401 and a front-end transmission assembly 410. The front-end drive wheel 405 is driven to rotate by the front-end adjustment motor 401, and the front-end adjustment motor 401 transmits torque through the front-end transmission assembly 410. The front-end transmission assembly 410 can be a synchronous belt transmission assembly, wherein the drive pulley is mounted on the power shaft of the front-end adjustment motor 401, the driven pulley is coaxially arranged with the front-end drive wheel 405, and the drive pulley is connected to the driven pulley through a synchronous belt.

[0036] like Figures 8-9 As shown, in this embodiment, both the first front drive cylinder 404 and the second front drive cylinder 408 are dual-output-shaft cylinders. Furthermore, both the active seat 4091 and the driven seat 4092 are provided with third radial slide rails, and the lower side of the front drive wheel slide 405 and the lower side of the front support slide 403 are provided with third radial sliders that cooperate with the corresponding third radial slide rails to achieve a sliding connection.

[0037] like Figures 8-9 As shown, in this embodiment, the front end of the active seat 4091 is provided with a front auxiliary support seat 402 and an auxiliary support cylinder 4021, and the front auxiliary support seat 402 is driven to rise and fall by the auxiliary support cylinder 4021. Figure 1 As shown, the front auxiliary support seat 402 is used to provide auxiliary support for the front end of the front docking section 701.

[0038] like Figures 8-9 As shown, in this embodiment, the lower side of the active seat 4091 is provided with a third mounting bracket 406, and the third mounting bracket 406 is provided with a third drive motor 4094. The power shaft of the third drive motor 4094 is provided with a third drive gear 4095 that meshes with the rack 103 provided on the base 1. In addition, the lower ends of both sides of the active seat 4091 and the lower ends of both sides of the driven seat 4092 are provided with front support sliders 4093 that cooperate with the main slide rail 102 provided on the base 1.

[0039] In this embodiment, the structure of the third holding component 407 is the same as that of the first holding component 207.

[0040] like Figure 10 As shown, in this embodiment, the rear docking section support assembly 5 includes a rear support slide 509, and rear support carriages 503 are provided on both sides of the rear support slide 509. A rear drive cylinder 504 is provided in the middle of the rear support slide 509, and the rear support carriages 503 on both sides of the rear support slide 509 are driven to move by the rear drive cylinder 504. The rear drive cylinder 504 is also a double-output shaft cylinder.

[0041] like Figure 10 As shown, in this embodiment, a rear-end drive assembly is also provided on the rear-end support slide 503, which has a rear-end drive wheel 505, and the rear-end drive wheel 505 is driven to rotate by the rear-end drive assembly. In this embodiment, the rear-end drive assembly includes a rear-end adjustment motor 506 and a rear-end transmission assembly 511. The rear-end drive wheel 505 is driven to rotate by the rear-end adjustment motor 506, and the rear-end adjustment motor 506 transmits torque through the rear-end transmission assembly 511, wherein the rear-end transmission assembly 511 has the same structure as the front-end drive assembly 410. In addition, both the rear-end drive wheel slide 505 and the rear-end support slide 503 are provided with rear-end auxiliary support wheels 508 to assist in supporting the rear docking section 703.

[0042] like Figure 10 As shown, in this embodiment, a fourth mounting bracket 510 is provided on the lower side of the rear support slide 509, and a fourth drive motor 501 is provided on the fourth mounting bracket 510. A fourth drive gear 502 is provided on the power shaft of the fourth drive motor 501, which meshes with the rack 103 provided on the base 1. In addition, a rear support slider 5091 is provided on both lower ends of the rear support slide 509, which cooperates with the main slide rail 102 provided on the base 1 to achieve a sliding connection.

[0043] In this embodiment, the structure of the fourth holding component 507 is the same as that of the first holding component 207.

[0044] like Figure 1 As shown, in this embodiment, a measurement drive module 101 is provided on one side of the base 1, and as... Figure 11 As shown, the measuring component 6 includes a measuring moving frame 601, which is slidably connected to the base 1 and driven to move by the measuring drive module 101. In this embodiment, the measuring drive module 101 includes a measuring drive device 1011 and a measuring drive screw. The measuring drive screw is driven to rotate by the measuring drive device 1011. The measuring moving frame 601 is provided with a measuring nut fitted onto the measuring drive screw. In addition, the measuring moving frame 601 is provided with a moving frame slider 602, which cooperates with a slide rail provided on the base to achieve a sliding connection. The measuring drive device 1011 can be a geared servo motor.

[0045] like Figure 11 As shown, in this embodiment, the upper end of the measuring moving frame 601 is provided with a vision driving module 604, an axis measurement driving module 606, and a gap measuring driving module 603. The vision measuring device 605 is driven to move by the vision driving module 604, the axis measurement device 607 is driven to move by the axis measurement driving module 606, and the gap measuring device 608 is driven to move by the gap measuring driving module 603. The vision driving module 604, axis measurement driving module 606, and gap measuring driving module 603 can adopt the same structure as the measuring driving module 101. For example, the vision driving module 604 includes a driving device 6041 and a driving screw, and the driving screw is driven to rotate by the driving device 6041. The lower side of the seat of the vision measuring device 605 is provided with a driving nut fitted onto the driving screw.

[0046] In operation, the axis measuring device 607 first extends to detect whether the axes of two adjacent segments are aligned and to determine whether there is a risk of internal damage to internal components due to scratches during assembly. Then, the vision measuring device 605 extends to measure the positional angle deviation of the positioning pins and positioning grooves at the ends of the two adjacent segments. The adjacent segments then rotate and adjust around their own axes according to the detection results to align the positioning pins and positioning grooves at the adjacent ends. The docking segment then moves towards the reference segment 702 to achieve docking. During the docking process, the corresponding docking force sensor detects the docking force of the segments in real time. At the same time, the gap measuring device 608 detects the gap between the segments to determine whether the docking is in place.

[0047] The visual measurement device 605, axis measurement device 607, and gap measuring device 608 are all commercially available products. For example, the visual measurement device 605 can be a visual camera, and the axis measurement device 607 and gap measuring device 608 can be laser measurement sensors.

[0048] The working principle of this invention is as follows: The present invention includes the following steps in operation: Step 1: The active support component 2 and the driven support component 3 of the reference segment move and adjust their positions along the base 1 according to the length of the reference segment 702. After they are moved into place, the reference segment 702 is placed in and supported and positioned by the active support component 2 and the driven support component 3 of the reference segment.

[0049] In this step, after the reference segment 702 is placed, the active support wheel 2081 on the active support component 2 of the reference segment supports the lower front end of the reference segment 702, and the driven support wheel 3081 on the driven support component 3 of the reference segment supports the lower rear end of the reference segment 702. Then, the first radial cylinder 206 on the active support component 2 of the reference segment drives the two first holding components 207 to close, and the two first holding components 207 hold the front end of the reference segment 702 from above to fix it. The second radial cylinder 306 on the active support component 2 of the reference segment drives the two second holding components 307 to close, and the two second holding components 307 hold the rear end of the reference segment 702 from above to fix it.

[0050] Step 2: The front docking section support assembly 4 and the rear docking section support assembly 5 are moved and adjusted along the base 1 according to the length of the front docking section 701 and the length of the rear docking section 703, as well as the assembly technical requirements. After they are moved into place, the front docking section 701 is placed in and supported and fixed by the front docking section support assembly 4, and the rear docking section 703 is placed in and supported and fixed by the rear docking section support assembly 5.

[0051] In this step, after the current docking segment 701 is placed, the front drive wheel 405 and the front driven wheel 4031 on the front docking segment support assembly 4 jointly support the lower side of the front docking segment 701. Then, the first front drive cylinder 404 on the front docking segment support assembly 4 drives the front drive wheel slide 405 and the front support slide 403 at the front end to close, thereby closing the two third holding components 407 at the front end. The second front drive cylinder 408 drives the two front support slides 403 at the rear end to close, thereby closing the two third holding components 407 at the rear end. Then, each third holding component 407 holds the front docking segment 701 from the top to fix it.

[0052] In this step, when the rear docking section 703 is inserted, the rear drive wheel 505 and the rear driven wheel 5031 on the rear docking section support assembly 5 jointly support the lower side of the rear docking section 703. The rear drive cylinder 504 drives the two fourth holding assemblies 507 to close, and then the fourth holding assemblies 507 hold the rear docking section 703 from the top and fix it.

[0053] Step 3: After the front docking section 701 and the rear docking section 703 are placed, the front docking section support assembly 4 and the rear docking section support assembly 5 can be moved and adjusted again according to the assembly requirements to ensure that the front docking section 701 and the rear docking section 703 accurately enter the assembly station.

[0054] Step 4: After each section enters the assembly station, the front docking section 701 first docks with the reference section 702, specifically as follows: Step 4.1: The measuring component 6 moves along one side of the base 1 to the docking area; Step 4.2: The axis measuring device 607 on the measuring component 6 extends into the docking gap between the two sections and checks whether the axis alignment of the front docking section 701 and the reference section 702 meets the requirements, so as to avoid damage to components by scratching the inner cavity during docking. If the detection does not meet the requirements, the position of the corresponding section can be finely adjusted left and right by the cylinder on the corresponding support component. If the detection meets the requirements, proceed to the next step. Step 4.3: After the axis measuring device 607 completes the inspection, it exits the docking gap. The visual measuring device 605 on the measuring component 6 extends into the docking gap and measures the position angle deviation of the positioning pins and positioning grooves at the ends of the two adjacent segments. Then, according to the inspection results, the active support wheel 2081 on the active support component 2 of the reference segment can cooperate to drive the reference segment 701 to rotate around its own axis for adjustment. The front active wheel 405 on the front docking segment support component 4 can cooperate to drive the front docking segment 701 to rotate around its own axis for adjustment until the positioning pins and positioning grooves at the ends of the two adjacent segments are aligned. Step 4.4: The front docking section support assembly 4 drives the front docking section 701 to move towards the reference section 702 for docking. During the docking process, if... Figure 5 As shown, the first docking force sensor 2041 in the active support component 2 of the reference section can detect the docking force of adjacent sections in real time, while the seam measuring device 608 on the measuring component 6 extends to a set position and detects the docking gap between adjacent sections in real time to determine the docking position.

[0055] Step 5: After the front docking segment 701 and the reference segment 702 complete docking, the rear docking segment 703 begins docking with the reference segment 702. The docking process is the same as in Step 4, where... Figure 7 As shown, during the docking process, the second docking force sensor 3041 on the reference section driven support assembly 3 is used to detect the docking force of adjacent sections in real time.

Claims

1. A high-precision docking device for multi-section aerospace products, characterized in that: It includes base (1), and the front end of base (1) is equipped with movable front butt joint section support assembly (4), the middle part is equipped with movable reference section driving support assembly (2) and movable reference section driven support assembly (3), the rear end is equipped with movable rear butt joint section support assembly (5), one side of base (1) is equipped with movable measurement assembly (6);The both sides of reference section driving support assembly (2) are equipped with movable first holding assembly (207), and the middle part is equipped with driving reference section (702) rotation's driving support wheel (2081), the both sides of reference section driven support assembly (3) are equipped with movable second holding assembly (307), and the middle part is equipped with driven support wheel (3081);The both sides of front butt joint section support assembly (4) are equipped with movable front section support carriage (403), and any front section support carriage (403) is equipped with driving front butt joint section (701) rotation's front section driving wheel (405), the rest front section support carriage (403) is equipped with front section driven wheel (4031), and each front section support carriage (403) is equipped with third holding assembly (407);The both sides of rear butt joint section support assembly (5) are equipped with movable rear section support carriage (503), and any rear section support carriage (503) is equipped with driving rear butt joint section (703) rotation's rear section driving wheel (505), the rest rear section support carriage (503) is equipped with rear section driven wheel (5031), and each rear section support carriage (503) is equipped with fourth holding assembly (507);The measurement assembly (6) includes visual measurement device (605), axis measurement device (607) and joint measuring device (608), and the visual measurement device (605), axis measurement device (607) and joint measuring device (608) are all moved along the radial direction of base (1) and are adjusted.

2. The high-precision docking device for multi-section aerospace products according to claim 1, characterized in that: The reference section driving support assembly (2) includes reference section driving support slide (204), and the reference section driving support slide (204) is movably arranged on the base (1);The upper end of the reference section driving support slide (204) is equipped with first radial cylinder (206) and driving support carriage (205) on both sides, and the driving support carriage (205) is driven to move by the first radial cylinder (206) on the corresponding side, and the first holding assembly (207) is arranged on both driving support carriages (205);Driving support wheel seat (208) is arranged between the two driving support carriages (205), and driving support wheel (2081) is arranged on the driving support wheel seat (208), reference section rolling adjustment assembly is arranged on the reference section driving support slide (204), and the driving support wheel (2081) is driven to rotate by the reference section rolling adjustment assembly;First butt joint force sensor (2041) is arranged on both sides of the reference section driving support slide (204), and the first butt joint force sensor (2041) is equipped with driving support sliding block (2042) and main slide rail (102) arranged on the base (1) on the lower side.

3. The high-precision docking device for multi-section aerospace products according to claim 2, characterized in that: The benchmark section roll adjustment assembly comprises a benchmark section adjustment motor (203), a roll driving wheel (2031), an intermediate transmission wheel (2082) and a transmission belt, wherein the lower side of the benchmark section driving support slide (204) is provided with a first mounting bracket (209), the benchmark section adjustment motor (203) is arranged on the first mounting bracket (209), the roll driving wheel (2031) is sleeved on the output shaft of the benchmark section adjustment motor (203), the intermediate transmission wheel (2082) is arranged on the driving support wheel seat (208), and the transmission belt is in a closed loop and sequentially passes through the roll driving wheel (2031), the driving support wheel (2081) and the intermediate transmission wheel (2082).

4. The high-precision docking device for multi-section aerospace product according to claim 1, characterized in that: The first holding assembly (207), the second holding assembly (307), the third holding assembly (407) and the fourth holding assembly (507) are the same in structure and all comprise a holding cylinder (2074), a positioning wheel swing arm (2072), a connecting arm (2073) and a holding positioning wheel (2071), wherein the power shaft end of the upper side of the holding cylinder (2074) is hingedly connected with the lower end of the positioning wheel swing arm (2072), the upper end of the positioning wheel swing arm (2072) is provided with the holding positioning wheel (2071), and the lower end of the connecting arm (2073) is hingedly connected with the upper end of the cylinder body of the holding cylinder (2074) and the upper end is hingedly connected with the positioning wheel swing arm (2072).

5. The high-precision docking device for multi-section aerospace product according to claim 1, characterized in that: The benchmark section driven support assembly (3) comprises a benchmark section driven support slide (304), and the benchmark section driven support slide (304) is movably arranged on the base (1); the upper end of the benchmark section driven support slide (304) is provided with a second radial cylinder (306) and a driven support slide rack (305) on each side, the driven support slide rack (305) is driven to move by the corresponding side second radial cylinder (306), and the two driven support slide racks (305) are provided with a second holding assembly (307) on each; a driven support wheel seat (308) is arranged between the two driven support slide racks (305), and the driven support wheel seat (308) is provided with a driven support wheel (3081); the two sides of the benchmark section driven support slide (304) are provided with a second butt joint force sensor (3041), and the lower side of the second butt joint force sensor (3041) is provided with a driven support slide block (3042) and a main slide rail (102) arranged on the base (1).

6. The high-precision docking device for multi-section aerospace product according to claim 1, characterized in that: The front butt joint section support assembly (4) comprises a front section support sliding base (409), and the front end of the front section support sliding base (409) is provided with a driving seat body (4091), and the rear end is provided with a driven seat body (4092), both sides of the driving seat body (4091) and both sides of the driven seat body (4092) are provided with front section support carriages (403), the middle part of the driving seat body (4091) is provided with a first front drive cylinder (404), and the front section support carriages (403) on both sides of the driving seat body (4091) are driven to move through the first front drive cylinder (404), the middle part of the driven seat body (4092) is provided with a second front drive cylinder (408), and the front section support carriages (403) on both sides of the driven seat body (4092) are driven to move through the second front drive cylinder (408); the front section support carriage (403) provided with a front section driving wheel (405) is provided with a front section adjusting assembly at the same time, and the front section driving wheel (405) is driven to rotate through the front section adjusting assembly.

7. The high-precision docking device for multi-section aerospace products according to claim 6, characterized in that: The front section adjusting assembly comprises a front section adjusting motor (401) and a front section transmission assembly (410), the front section driving wheel (405) is driven to rotate through the front section adjusting motor (401), and the front section adjusting motor (401) transmits torque through the front section transmission assembly (410); the front end of the driving seat body (4091) is provided with a front section auxiliary support seat (402) and an auxiliary support cylinder (4021), and the front section auxiliary support seat (402) is driven to lift through the auxiliary support cylinder (4021).

8. The high-precision docking device for multi-section aerospace product according to claim 1, characterized in that: The rear butt joint section support assembly (5) comprises a rear section support sliding base (509), and both sides of the rear section support sliding base (509) are provided with rear section support carriages (503), the middle part of the rear section support sliding base (509) is provided with a rear drive cylinder (504), and the rear section support carriages (503) on both sides of the rear section support sliding base (509) are driven to move through the rear drive cylinder (504); the rear section support carriage (503) provided with a rear section driving wheel (505) is provided with a rear section drive assembly at the same time, and the rear section driving wheel (505) is driven to rotate through the rear section drive assembly.

9. The high-precision docking device for multi-section aerospace products according to claim 8, characterized in that: The rear section drive assembly comprises a rear section adjusting motor (506) and a rear section transmission assembly (511), the rear section driving wheel (505) is driven to rotate through the rear section adjusting motor (506), and the rear section adjusting motor (506) transmits torque through the rear section transmission assembly (511).

10. The high-precision docking device for multi-section aerospace product of claim 1, wherein: The base (1) is provided with a measurement driving module (101) on one side, the measurement assembly (6) comprises a measurement moving frame (601), the measurement moving frame (601) is slidably connected with the base (1) and is driven to move by the measurement driving module (101); the upper end of the measurement moving frame (601) is provided with a visual driving module (604), an axis measurement driving module (606) and a joint measurement driving module (603), wherein a visual measurement device (605) is driven to move by the visual driving module (604), an axis measurement device (607) is driven to move by the axis measurement driving module (606), and a joint measurement device (608) is driven to move by the joint measurement driving module (603).

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