Large-span wing drilling device

Abstract

The invention discloses a large-span wing drilling device, which belongs to the technical field of robot drilling, and comprises double AGV (automatic guided vehicle) moving frames which are symmetrically arranged, a tail end posture adjusting device, a differential feeding device, an automatic feeding drill gun, a winding arrangement and an aircraft wing fixing truss, a double-AGV moving frame drives the whole mechanism to move and position, a plurality of cables which are arranged in a winding mode transmit power, a tail end posture adjusting device achieves multi-dimensional posture adjustment of a drill gun through traction of the cables, the drill gun is parallel to a normal vector of a hole site of a drill plate, a differential feeding device of a conical winding drum drives the drill gun to conduct accurate feeding, and the drill gun is driven to conduct drilling. The variable-diameter locking mechanism of the drill gun can prevent drilling vibration from influencing the precision. According to the device, large-range drilling of the large-span wing is achieved, the drilling precision and efficiency are high, the flexibility degree is good, the device is suitable for multi-model production, and the labor intensity of workers is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic hole-making technology, and in particular to a hole-making device for a large-span airfoil. Background Technology

[0002] The quality of drilling holes in aircraft wings directly affects the fatigue life and connection reliability of aerospace structures. Modern aerospace manufacturing places stringent requirements on the precision, efficiency, and operational range of wing drilling. Currently, traditional manual drilling processes for aircraft wings rely on hand tools and physical drill jigs. The process quality is significantly affected by the operator's skill level, resulting in low repeatability, high labor intensity, and difficulty in digitally tracing process parameters. These methods can no longer meet the demands of modern aerospace manufacturing.

[0003] To address the drawbacks of manual drilling, various automated drilling solutions have emerged in the industry, but all have significant limitations: large-scale dedicated automatic drilling and riveting systems, while achieving high-precision drilling, suffer from high equipment integration costs and low flexibility, making them unsuitable for the production needs of multiple aircraft wing models; drilling solutions based on fixed base industrial robots or collaborative robots improve flexibility, but are limited by the robot's workspace, making it difficult to cover the wide-ranging drilling needs of large-size, complex curved wings; and automated drilling systems based on flexible tracks offer lightweight assembly solutions, but require customized flexible tracks designed according to the curvature of different wings, resulting in high costs and difficult track installation, leading to decreased production efficiency and making them unsuitable for mass production of multiple wing models.

[0004] In summary, existing aircraft wing drilling technology cannot simultaneously meet the three core requirements of precision, flexibility, and operating range. There is an urgent need for an automated drilling device that can achieve a wide range, high precision, and high flexibility to solve the pain points of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a large-span wing drilling device that enables large-scale automated drilling of aircraft wings. It features precise attitude adjustment and high feed transmission accuracy, balancing drilling efficiency and precision. Furthermore, it is highly flexible and can adapt to the drilling needs of multiple aircraft wing models.

[0006] To achieve the above objectives, the present invention provides a large-span wing drilling device, including a first AGV moving frame, a second AGV moving frame, an end attitude adjustment device, a differential feed device, an automatic feed drill, a winding arrangement and an aircraft wing fixing frame. The first AGV mobile frame and the second AGV mobile frame have the same structure. They are symmetrically arranged and used to drive the overall drilling mechanism to move and position. The aircraft wing fixing frame is equipped with a drilling template for clamping and fixing the aircraft wing. The winding arrangement includes multiple cables, which are respectively connected to the first AGV mobile frame, the second AGV mobile frame and the end attitude adjustment device, and are arranged inside the components of the end attitude adjustment device and the differential feed device, so as to realize the power transmission and motion traction between and within each component. The end attitude adjustment device is connected in sequence to the differential feed device, and the automatic feed drill gun is mounted on the differential feed device.

[0007] Preferably, the first AGV mobile frame includes an AGV, an aluminum profile frame, a first fixed bracket, a second fixed bracket, a third fixed bracket, a fourth fixed bracket, a first cable reel mechanism, a second cable reel mechanism, a third cable reel mechanism, a fourth cable reel mechanism, and a first steering pulley, a second steering pulley, a third steering pulley, and a fourth steering pulley. The aluminum profile frame is fixedly connected to the AGV via a first fixed bracket, a second fixed bracket, a third fixed bracket, and a fourth fixed bracket; the first cable reel mechanism is correspondingly connected to the first steering pulley, the second cable reel mechanism is correspondingly connected to the second steering pulley, the third cable reel mechanism is correspondingly connected to the third steering pulley, and the fourth cable reel mechanism is correspondingly connected to the fourth steering pulley, and each cable reel mechanism is installed on the upper surface of the AGV; the first pulley structure and the second pulley structure are respectively installed on both sides of the upper end of the aluminum profile frame.

[0008] Preferably, the first cable reel mechanism includes a motor, a motor mounting bracket, a coupling, a cable reel, a left mounting plate of the cable reel, a right mounting plate of the cable reel, a first gear, a second gear, a third gear, a sliding rod, a lead screw, a pulley frame, and a pulley. The motor is mounted on the motor mounting bracket, and its output shaft is connected to the shaft of the cable reel via the coupling. Both ends of the cable reel are connected to the left and right mounting plates of the cable reel, respectively, and its other end shaft is connected to the first gear. Both ends of the sliding rod and the lead screw are mounted on the left and right mounting plates of the cable reel, respectively, and one end of the lead screw is connected to the third gear. The pulley frame is sleeved on the sliding rod and the lead screw, and it engages with the lead screw via a lead screw nut. The second gear is mounted on the right mounting plate of the cable reel and meshes with the first and third gears, respectively. The pulley is mounted on the pulley frame. The structure and installation method of the second, third, and fourth cable reel mechanisms are the same as those of the first cable reel mechanism.

[0009] Preferably, the end attitude adjustment device includes a left cable winding mechanism, a right cable winding mechanism, a lower plate, an upper plate, and a fixing plate; the left cable winding mechanism and the right cable winding mechanism have the same structure and are symmetrically installed on both sides of the upper plate and the lower plate; the upper plate and the lower plate have the same structure and are fixedly connected by multiple support shafts; the fixing plate is connected to a universal joint in the lower plate and is used to fix the differential feed device.

[0010] Preferably, the left-hand cable winding mechanism includes a winding mechanism housing, a first connecting plate, a second connecting plate, a first cable reel mounting frame, a second cable reel mounting frame, a first motor, a second motor, a first cable reel, a second cable reel, and multiple hanging rings; the first motor is connected to the first cable reel and fixed by a first retaining ring, the first cable reel is connected to a long shaft inside the first cable reel mounting frame via a first bearing and fixed by a second retaining ring; the second motor is connected to the second cable reel and fixed by a fourth retaining ring, the second cable reel is connected to a long shaft inside the second cable reel mounting frame via a second bearing and fixed by a third retaining ring; the first cable reel mounting frame and the second cable reel mounting frame are connected to the first connecting plate and the second connecting plate via pins, and all three are fixed to the winding mechanism housing; the hanging rings are installed at the four corners of the back of the winding mechanism housing.

[0011] Preferably, the lower plate includes a base, a retainer, 16 balls, a rotating mechanism, a protective frame, a left pulley assembly, a right pulley assembly, a first clamping plate, and a second clamping plate; the 16 balls are evenly distributed in the retainer and placed together in the groove of the base; the rotating mechanism is placed in the groove of the base and contacts the balls and the retainer; the protective frame fits against the base, surrounds the rotating mechanism, and limits its movement; the left pulley assembly and the right pulley assembly are connected by the first clamping plate and the second clamping plate to form a closed loop, surrounding and locking the base, retainer, balls, rotating mechanism, and protective frame.

[0012] Preferably, the rotating mechanism includes a rotating base, multiple pulleys, a right sliding plate, a left sliding plate, a universal joint, a first sliding rod, a second sliding rod, a first fixing buckle, and a second fixing buckle; the multiple pulleys are evenly distributed in the hollowed-out parts of the rotating base; the first fixing buckle and the second fixing buckle are respectively placed in the corresponding hollowed-out parts of the rotating base; the universal joint is installed between the right sliding plate and the left sliding plate and is respectively connected; the right sliding plate and the left sliding plate are slidably connected to the first sliding rod and the second sliding rod.

[0013] Preferably, the differential feed device includes a differential feed mechanism, a bushing, and an automatic feed gun clamp; the differential feed mechanism includes a first device base, a second device base, a third device base, a moving ring, a device cover plate, a clamp mounting plate, three feed rods, three sets of guide rods, three connectors, three buffer springs, a differential feed mechanism cable reel, and a motor. The three sets of guide rods each include a first guide rod, a second guide rod, and a third guide rod. The three sets of guide rods are evenly distributed and installed on the first device base. The second device base is sleeved on the three sets of guide rods and fixed to the first device base. Three buffer springs are evenly sleeved on the protruding platform of the second device base. The third device base is sleeved on three sets of guide rods, and the buffer spring passes through the third device base; the motor is installed on the third device base, and its output shaft is connected to the cable reel of the differential feed mechanism, which has a conical structure. The movable ring is slidably connected to the outer surface of three sets of guide rods via three connectors, and the connectors are connected to buffer springs; the device cover plate is installed on the top of the three sets of guide rods, and the three feed rods pass through the device cover plate and are fixedly connected to the movable ring via connectors; the clamp mounting plate is installed on the outer end of the feed rod, and the automatic feed gun clamp is installed on the clamp mounting plate; the bushing is installed in the middle part of the device cover plate.

[0014] Preferably, the third device base includes a base ring, a first pulley, a second pulley, and a third pulley; the first pulley, the second pulley, and the third pulley are evenly installed on the base ring; the movable ring includes a movable ring frame and a first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, and the sixth pulley, with each pulley evenly installed on the movable ring frame.

[0015] Preferably, the automatic feed drill gun includes a drill gun body and a variable diameter locking mechanism; the variable diameter locking mechanism is used to lock the automatic feed drill gun and the drill template after the automatic feed drill gun is inserted into the drill template hole.

[0016] Therefore, the present invention employs the above-mentioned large-span wing perforation device, which has the following technical advantages: (1) The present invention uses the first and second AGV mobile frames arranged symmetrically to drive the overall hole-making mechanism to move and position. In conjunction with the multiple cables arranged in a winding manner, the end effector composed of the end attitude adjustment device, differential feed device and automatic feed drill gun moves up, down and left and right. This breaks through the working space limitation of the fixed base robot hole making, can cover the hole making needs of large-size complex curved surface wings, greatly improve hole making efficiency and reduce manual labor intensity.

[0017] (2) The present invention uses the left and right cable winding mechanism of the end attitude adjustment device to pull the cable, drive the multi-angle rotation of the rotating mechanism and the left and right movement of the universal joint. According to the change of the curved surface of the aircraft wing, the attitude of the automatic feed drill gun can be adjusted so that the normal vector of the drill gun and the hole position of the drill template are kept parallel. This solves the problem of misalignment between the end tool and the hole position normal vector in the prior art and greatly improves the accuracy of hole making.

[0018] (3) The differential feed device of the present invention adopts a conical differential feed mechanism and a cable reel to achieve differential transmission. The motor drives the reel to rotate, and the traction cable and pulley cooperate to drive the moving ring and feed rod to make precise axial linear motion, with high transmission accuracy. At the same time, a buffer spring is set to play a shock absorption role. The diameter-changing locking mechanism of the automatic feed drill gun can lock the drill gun and the drill template to avoid the drilling vibration from affecting the hole making accuracy, and further ensure the stability of the hole making operation.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a large-span wing perforation device according to the present invention; Figure 2 This is a schematic diagram of the first AGV moving frame structure in a large-span wing hole-making device of the present invention; Figure 3 This is a schematic diagram of the cable winding mechanism in a large-span wing perforation device of the present invention; Figure 4 This is a schematic diagram of the end attitude adjustment device in a large-span wing perforation device of the present invention; Figure 5 This is a schematic diagram of the left cable winding mechanism in a large-span wing hole-making device of the present invention; Figure 6 This is a schematic diagram of the exploded structure of the lower plate in a large-span wing perforation device of the present invention; Figure 7 This is a schematic diagram of the rotating mechanism in a large-span wing perforation device of the present invention; Figure 8 This is a schematic diagram of the left and right pulley brackets in a large-span wing perforation device of the present invention; Figure 9 This is a schematic diagram of the differential feed device in a large-span wing hole-making device of the present invention. Figure 10 This is a schematic diagram of the differential feed mechanism in a large-span wing hole-making device of the present invention; Figure 11 This is a schematic diagram of the structure of the base of the third device in a large-span wing perforation device of the present invention; Figure 12 This is a schematic diagram of the moving ring in a large-span wing perforation device of the present invention; Figure 13 This is a schematic diagram of the structure of the aircraft wing fixing frame in the large-span wing perforation device of the present invention; Figure 14This is a cable arrangement diagram of the end attitude adjustment device in a large-span wing hole-making device of the present invention; Figure 15 This is a cable arrangement diagram of the differential feed device in a large-span wing hole-making device of the present invention. Figure 16 This is an implementation diagram of the end attitude adjustment in a large-span wing perforation device of the present invention.

[0021] Figure Labels 1. First AGV moving frame; 1001. AGV; 1002. First fixed bracket; 1003. Second fixed bracket; 1004. Aluminum profile frame; 1005. First pulley structure; 1006. Second pulley structure; 1007. Third fixed bracket; 1008. Fourth fixed bracket; 1009. First cable winding mechanism; 1009-1. Motor; 1009-2. Motor mounting bracket; 1009-3. Coupling; 1009-4. Left mounting plate of cable reel; 1009-5. Cable reel; 1009-6. Right mounting plate of cable reel; 1009-7. First gear; 1009-8. Second gear; 1009-9. Third gear; 1009-10. Slide rod; 1009-11 1. Screw and nut; 1009-12. Pulley; 1009-13. Pulley frame; 1009-14. Screw; 1009-15. Cable reel mounting base plate; 1010. First steering pulley; 1011. Second cable winding mechanism; 1012. Second steering pulley; 1013. Third steering pulley; 1014. Third cable winding mechanism; 1015. Fourth steering pulley; 1016. Fourth cable winding mechanism; 2. End posture adjustment device; 2100. Left cable winding mechanism; 2101. Cable winding mechanism housing; 2102. First connecting plate; 2103. First hanging ring; 2104. First motor; 2105. First retaining ring; 2106. First cable reel; 2107. Second hanging ring; 2108. First shaft 2109. Second retaining ring; 2110. First cable reel mounting bracket; 2111. Second connecting plate; 2112. Third hanging ring; 2113. Second cable reel mounting bracket; 2114. Fourth hanging ring; 2115. Second bearing; 2116. Third retaining ring; 2117. Second cable reel; 2118. Fourth retaining ring; 2119. Second motor; 2200. Lower plate; 2201. First support shaft; 2202. Second support shaft; 2203. Third support shaft; 2204. Fourth support shaft; 2205. Fifth support shaft; 2206. Sixth support shaft; 2207. Seventh support shaft; 2208. Eighth support shaft; 2209. Ninth support shaft; 2219. Tenth support shaft; 2210. First 2211, Clamping plate; 2212, Protective frame; 2212, Rotating mechanism; 2212-1, Rotating base; 2212-2~2212-11, Pulleys; 2212-12, Right sliding plate; 2212-13, First fixing buckle; 2212-14, Universal joint; 2212-15, Left sliding plate; 2212-16, First sliding rod; 2212-17, Second sliding rod; 2212-18, Second fixing buckle; 2213, Ball bearing; 2214, Left pulley assembly; 2214-1, First left pulley; 2214-2, Second left pulley; 2214-3, Left surround frame; 2215, Right pulley assembly; 2215-1, First right pulley; 2215-2, Second right pulley; 2215-3, Right surround frame;2216, Base; 2217, Cage; 2218, Second Clamping Plate; 2400, Fixing Plate; 2500, Right-hand Cable Winding Mechanism; 3, Differential Feed Device; 3100, Differential Feed Mechanism; 3101, First Device Base; 3102, Second Device Base; 3103, Third Device Base; 3103-1, Base Ring; 3103-2, First Pulley; 3103-3, Second Pulley; 3103-4, Third pulley; 3104, Moving ring; 3104-1, Moving ring frame; 3104-2, First pulley; 3104-3, Second pulley; 3104-4, Third pulley; 3104-5, Fourth pulley; 3104-6, Fifth pulley; 3104-7, Sixth pulley; 3105, Device cover plate; 3106, Fixture mounting plate; 3107, Feed rod; 3108, [missing information - likely a typo, should be "the third pulley"]. 1. Guide rod; 3109. Second guide rod; 3110. Third guide rod; 3111. Connector; 3112. Buffer spring; 3113. Differential feed mechanism cable reel; 3114. Motor; 3200. Bushing; 3300. Automatic feed gun clamp; 4. Automatic feed drill gun; 5. Second AGV moving frame; 6. Winding arrangement; 6001. First cable; 6002. Second cable; 60 03. Third cable; 6004. Fourth cable; 6005. Fifth cable; 6006. Sixth cable; 6007. Seventh cable; 6008. Eighth cable; 6009. Ninth cable; 6010. Tenth cable; 6011. Eleventh cable; 6012. Twelfth cable; 6013. Thirteenth cable; 7. Aircraft wing fixing frame; 4001. Variable diameter locking mechanism; 7001. Drilling template. Detailed Implementation

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0024] like Figure 1As shown, a large-span wing drilling device includes a first AGV moving frame 1, a second AGV moving frame 5, an end attitude adjustment device 2, a differential feed device 3, an automatic feed drill 4, a winding arrangement 6, and an aircraft wing fixing frame 7. The first AGV moving frame 1 and the second AGV moving frame 5 have completely identical structures and are symmetrically arranged on both sides of the aircraft wing fixing frame 7. A drill template 7001 is installed on the aircraft wing fixing frame 7 to clamp and fix the aircraft wing and provide a positioning reference for the drilling operation. The winding arrangement 6 is composed of multiple cables (6001-6013) to realize power transmission and motion traction between various components. One end of the end attitude adjustment device 2 is connected to the first and second AGV moving frames through the winding arrangement 6, and the other end is fixedly connected to the differential feed device 3. The automatic feed drill 4 is installed at the end of the differential feed device 3, forming a complete drilling system of "moving base - power traction - attitude adjustment - feed execution - drilling operation".

[0025] like Figure 2 As shown, the first AGV moving frame 1 includes AGV1001, aluminum profile frame 1004, first fixed bracket 1002, second fixed bracket 1003, third fixed bracket 1007, fourth fixed bracket 1008, first cable winding mechanism 1009, second cable winding mechanism 1011, third cable winding mechanism 1014, fourth cable winding mechanism 1016, first steering pulley 1010, second steering pulley 1012, third steering pulley 1013, and fourth steering pulley 1015. The aluminum profile frame 1004 is fixedly connected to AGV1001 through four fixed brackets to form a rigid moving frame. The four cable winding mechanisms are all installed on the upper surface of AGV1001, and each cable winding mechanism is connected to the corresponding steering pulley. The upper ends of the aluminum profile frame 1004 are also equipped with a first pulley structure 1005 and a second pulley structure 1006 for changing the transmission direction of the cable.

[0026] like Figure 3As shown, the first cable winding mechanism 1009 includes a motor 1009-1, a motor mounting bracket 1009-2, a coupling 1009-3, a cable drum 1009-5, a left mounting plate 1009-4, a right mounting plate 1009-6, a first gear 1009-7, a second gear 1009-8, a third gear 1009-9, a slide rod 1009-10, a lead screw 1009-14, a pulley frame 1009-13, and a pulley 1009-12. The motor 1009-1 is mounted on the motor mounting bracket 1009-2, and its output shaft is connected to the shaft of the cable drum 1009-5 via the coupling 1009-3, providing power for the rotation of the drum. Both ends of the cable drum 1009-5 are rotatably connected to the left and right mounting plates and are connected via the cable drum mounting base. Plate 1009-15 is mounted on the upper surface of AGV1001; its other end is shaft-connected to the first gear 1009-7, the second gear 1009-8 meshes with both the first gear 1009-7 and the third gear 1009-9, and the third gear 1009-9 is connected to one end of the lead screw 1009-14; the slide rod 1009-10 is installed parallel to the lead screw 1009-14 between the left and right mounting plates, and the pulley frame 1009-13 engages with the lead screw 1009-14 through the lead screw nut 1009-11, while also being sleeved on the slide rod 1009-10; the pulley 1009-12 is mounted on the pulley frame 1009-13; the motor rotation drives the cable reel to rotate, and simultaneously drives the lead screw to rotate through gear transmission, realizing the linear movement of the pulley frame and ensuring the smoothness of cable winding and unwinding. The structure and installation method of the second to fourth cable reel mechanisms are completely consistent with the first cable reel mechanism.

[0027] The second AGV mobile frame 5 has the same structure and installation method as the first AGV mobile frame 1. The two are symmetrically arranged to provide movement positioning and power output for the overall hole-making mechanism.

[0028] like Figure 4As shown, the end attitude adjustment device 2 includes a left cable winding mechanism 2100, a right cable winding mechanism 2500, a lower plate 2200, an upper plate 2300, and a fixing plate 2400. The left and right cable winding mechanisms have the same structure and are symmetrically installed on both sides of the upper and lower plates. The upper plate 2300 and the lower plate 2200 have the same structure and are fixedly connected by multiple support shafts. The first support shaft 2201 is connected to the upper end of the left pulley frame 2214 of the lower plate and to the lower end of the left pulley frame of the upper plate; the second support shaft 2202 is connected to the upper end of the right pulley frame 2215 of the lower plate and to the lower end of the right pulley frame of the upper plate; the sixth support shaft 2206 is connected to the upper end of the right pulley frame 2215 of the lower plate and to the lower end of the right pulley frame of the upper plate; and the seventh support shaft 2207 is connected to the left pulley frame 2214 of the lower plate and to the left pulley frame of the upper plate. The third support shaft 2203, fourth support shaft 2204, fifth support shaft 2205, eighth support shaft 2208, ninth support shaft 2209, and tenth support shaft 2219 are connected to the upper end of the protective frame 2211 and to the lower end of the chassis in the upper plate 2300. This connects the upper plate 2300 and the lower plate 2200. The fixing plate 2400 is fixedly connected to the universal joint 2212-14 inside the lower plate 2200 to fix the differential feed device 3.

[0029] like Figure 5 As shown, the left cable winding mechanism 2100 includes a winding mechanism housing 2101, a first connecting plate 2102, a second connecting plate 2111, a first cable reel mounting bracket 2110, a second cable reel mounting bracket 2113, a first motor 2104, a second motor 2119, a first cable reel 2106, a second cable reel 2117, and a first hanging ring 2103, a second hanging ring 2107, a third hanging ring 2112, and a fourth hanging ring 2114; the first motor 2104 is connected to the first cable reel 2106 and fixed by a first retaining ring 2105, and the first cable reel 210... 6 is connected to the long shaft of the first cable reel mounting bracket 2110 via the first bearing 2108 and is fixed by the second retaining ring 2109; the second motor 2119 is connected to the second cable reel 2117 and fixed by the fourth retaining ring 2118; the second cable reel 2117 is connected to the long shaft of the second cable reel mounting bracket 2113 via the second bearing 2115 and is fixed by the third retaining ring 2116; the two reel mounting brackets are connected to the two connecting plates via pins and are both fixed to the cable winding mechanism housing 2101; four hanging rings are installed at the four corners of the back of the housing for connecting the cable of the winding arrangement 6. The structure and installation method of the right cable winding mechanism 2500 are completely the same as those of the left cable winding mechanism 2100.

[0030] like Figure 6As shown, the lower plate 2200 includes a base 2216, a retainer 2217, 16 balls 2213, a rotating mechanism 2212, a protective frame 2211, a left pulley assembly 2214, a right pulley assembly 2215, a first clamping plate 2210, and a second clamping plate 2218. The 16 balls 2213 are evenly distributed in the retainer 2217 and placed in the groove of the base 2216. The rotating mechanism 2212 contacts the balls 2213. The protective frame 2211 surrounds the rotating mechanism 2212 and restricts its movement. The left and right pulley assemblies are connected by two clamping plates to form a closed loop, surrounding and locking the base, retainer, balls, rotating mechanism, and protective frame to ensure structural stability. The upper plate 2300, except for the support shaft used for connection, is completely identical to the lower plate 2200 in structure and installation method.

[0031] like Figure 7 As shown, the rotating mechanism 2212 includes a rotating base 2212-1, 10 rotating pulleys (2212-2 to 2212-11), a right sliding plate 2212-12, a left sliding plate 2212-15, a universal joint 2212-14, a first sliding rod 2212-16, a second sliding rod 2212-17, a first fixing buckle 2212-13, and a second fixing buckle 2212-18; the 11 rotating pulleys are evenly distributed in the hollowed-out parts of the rotating base 2212-1, and the two fixing buckles are respectively placed in the corresponding hollowed-out parts; the universal joint 2212-14 is installed between the left and right sliding plates, and both the left and right sliding plates are slidably connected to the two sliding rods, which can move left and right along the sliding rods, thereby driving the universal joint to achieve position and posture adjustment.

[0032] like Figure 8 As shown, the left pulley frame 2214 includes a left surround frame 2214-3 and a first left pulley 2214-1 and a second left pulley 2214-2, with the two pulleys installed in the hollowed-out part of the left surround frame; the right pulley frame 2215 includes a right surround frame 2215-3 and a first right pulley 2215-1 and a second right pulley 2215-2, with the installation method being the same as the left pulley frame. The pulleys of the pulley frame are used to guide the cable and realize the transmission of power.

[0033] After the upper and lower plates are connected by a support shaft, the outer shell of the left cable winding mechanism 2100 is fixedly connected to the left pulley frame of the upper and lower plates, and the right cable winding mechanism 2500 is fixedly connected to the right pulley frame of the upper and lower plates, forming a complete end attitude adjustment device that can realize attitude adjustment in multiple angles and directions.

[0034] like Figure 9 As shown, the differential feed device 3 includes a differential feed mechanism 3100, a bushing 3200, and an automatic feed gun clamp 3300. The differential feed mechanism 3100 is the core transmission component, and the automatic feed gun clamp 3300 is used to fix the automatic feed drill gun 4.

[0035] like Figure 10 As shown, the differential feed mechanism 3100 includes a first device base 3101, a second device base 3102, a third device base 3103, a moving ring 3104, a device cover plate 3105, a fixture mounting plate 3106, three feed rods 3107, three sets of guide rods, three connectors 3111, three buffer springs 3112, a differential feed mechanism cable reel 3113, and a motor 3114. The three sets of guide rods are evenly installed circumferentially on the first device base 3101, and each set of guide rods includes a first guide rod 3108, a second guide rod 3109, and a third guide rod 3110. The second device base 3102 is sleeved on the three sets of guide rods and fixed to the first device base 3101. The three buffer springs 3112 are evenly sleeved on the protruding platform of the second device base 3102. The third device base 3103 is fitted onto the three sets of guide rods. The buffer spring 3112 passes through the third device base 3103. The motor 3114 is installed on the third device base 3103 and connected to the conical differential feed mechanism cable reel 3113. The moving ring 3104 is slidably connected to the outer surface of the three sets of guide rods through three connectors 3111. The connectors 3111 are connected to the buffer spring 3112. The device cover plate 3105 is installed on the top of the three sets of guide rods. The three feed rods 3107 pass through the device cover plate 3105 and are connected to the connectors 3111. The clamp mounting plate 3106 is installed on the outer end of the feed rods 3107. The automatic feed gun clamp 3300 is installed on the clamp mounting plate 3106. The bushing 3200 is installed in the middle part of the device cover plate 3105 to axially position the reel.

[0036] like Figures 11 to 12 As shown, the third device base 3103 includes a base ring 3103-1 and a first pulley 3103-2, a second pulley 3103-3, and a third pulley 3103-4, with the three pulleys evenly installed on the base ring; the structure of the movable ring 3104 is as follows. Figure 12 As shown, it includes a movable circular frame 3104-1 and a first pulley 3104-2, a second pulley 3104-3, a third pulley 3104-4, a fourth pulley 3104-5, a fifth pulley 3104-6, and a sixth pulley 3104-7. The six pulleys are evenly installed on the movable circular frame and cooperate with the pulleys on the base of the third device to realize the closed-loop transmission of the cable.

[0037] The automatic feed drill rig 4 includes a drill rig body and a variable diameter locking mechanism 4001. The variable diameter locking mechanism 4001 is located at the front end of the drill rig body. The drill rig is mounted on the automatic feed drill rig fixture 3300 and can move with the differential feed device 3. The structure of the aircraft wing fixed frame 7 is as follows: Figure 13As shown, it includes a gantry body and a drilling template 7001. The drilling template 7001 is installed on the gantry body, which is placed in a fixed position in the factory area to hold the aircraft wing. The holes in the drilling template 7001 provide precise positioning for the drilling operation.

[0038] The cable arrangement 6 consists of multiple cables, including cable 6001, cable 6002, cable 6003, cable 6004, cable 6005, cable 6006, cable 6007, cable 6008, cable 6009, cable 6010, cable 6011, cable 6012, and cable 6013. The arrangement and connection of each cable are adapted to the power transmission and motion traction requirements of each component, and the core is divided into three parts: The connecting cables (6001-6008) between the AGV and the end attitude adjustment device: The first cable 6001 is installed on the drum of the first cable winding mechanism 1009 of the first AGV moving frame 1, and is connected to the hanging ring 2114 of the left cable winding mechanism 2100 after passing through pulleys 1009-12, steering pulley 1010, and pulley structure 1006; the arrangement of the second cable 6002 to the fourth cable 6004 is the same as that of the first cable 6001, and they are respectively connected to the left and right cable windings. The corresponding hanging ring of the cable mechanism; the eighth cable 6008 is installed on the second cable reel of the first AGV moving frame 1, and after passing through the corresponding pulley and the second steering pulley 1012, it is connected to the hanging ring 2103 of the left cable reel 2100; the arrangement of the fifth cable 6005 to the seventh cable 6007 is the same as that of the eighth cable 6008, and they are respectively connected to the corresponding hanging rings of the left and right cable reel mechanisms. The up, down and left and right movement of the end effector is realized by the traction of the eight cables.

[0039] like Figure 14 As shown, the internal cables (6009-6012) of the end-effector attitude adjustment device are as follows: The tenth cable 6010 is installed on the second cable reel 2117 of the left cable winding mechanism 2100, and after passing through the pulley of the left pulley frame of the lower plate, it is connected to the second fixing buckle 2212-18 of the rotating mechanism to realize the rotation of the rotating mechanism; the ninth cable 6009 is arranged in the same way as the tenth cable 6010 to realize the rotation of the upper plate rotating mechanism; the twelfth cable 6012 is installed on the cable reel of the right cable winding mechanism 2500, and after passing through the pulley of the right pulley frame of the lower plate and the pulley of the rotating mechanism, it is connected to the left and right slides of the rotating mechanism to realize the left and right movement of the slides; the eleventh cable 6011 is arranged in the same way as the twelfth cable 6012 to realize the movement of the slide of the upper plate rotating mechanism. Through the traction of the four cables, the precise adjustment of the end-effector attitude is realized.

[0040] Differential feed device internal cable (6013): The arrangement of the thirteenth cable 6013 is as follows Figure 15As shown, the cable is drawn out from the spiral groove of the conical differential feed mechanism cable drum 3113, passes through the pulleys of the moving ring 3104 and the third device base 3103 in sequence, forms three closed loops and winds back to the drum. Through the transmission of the cable, the rotation of the drum is converted into the axial linear motion of the moving ring.

[0041] Working principle: Place the aircraft wing fixing frame 7 in a fixed position within the factory area, clamp and fix the aircraft wing to the frame body to ensure the stability of the wing; control the AGV1001 of the first AGV moving frame 1 and the AGV5001 of the second AGV moving frame 5 to drive the overall hole-making mechanism to a suitable position in front of the aircraft wing fixing frame 7, and then fix the two AGVs to ensure the stability of subsequent operations. The cable winding mechanism on the first and second AGV moving frames is controlled to move in unison, so as to realize the synchronous winding and unwinding of the first cable 6001 to the eighth cable 6008. The end effector composed of the end attitude adjustment device 2, differential feed device 3 and automatic feed drill gun 4 is pulled to move up, down and left and right until the automatic feed drill gun 4 is moved to the outside of the corresponding hole position of the drill template 7001 of the aircraft wing fixed frame 7, and the position positioning is completed. like Figure 16 As shown, the motors (2104, 2119, 2504, 2519) of the left and right cable winding mechanisms of the control end attitude adjustment device 2 rotate, driving the ninth cable 6009 to the twelfth cable 6012 to be wound and unwound; among them, the ninth cable 6009 and the tenth cable 6010 pull the upper and lower plate rotation mechanisms to rotate at multiple angles, and the eleventh cable 6011 and the twelfth cable 6012 pull the left and right slides of the rotation mechanism to move left and right along the slide bar, driving the universal joint to rotate, thereby adjusting the attitude of the differential feed device 3 and the automatic feed drill 4, so that the axis of the automatic feed drill 4 is kept parallel to the normal vector of the hole position of the drill template 7001, and the attitude is accurately matched.

[0042] The motor 3114 of the differential feed device 3 rotates, driving the conical differential feed mechanism cable reel 3113 to rotate. Through the closed-loop transmission of the thirteenth cable 6013, the moving ring 3104 is pulled to move axially linearly along the guide rod. The moving ring drives the feed rod 3107, the clamp mounting plate 3106, and the automatic feed drill 4 to perform differential feed motion towards the hole position of the drill template 7001 until the automatic feed drill 4 extends into the hole position of the drill template 7001. At this time, the diameter-changing locking mechanism 4001 of the automatic feed drill 4 locks the drill 4 and the drill template to prevent drilling vibration. Then the automatic feed drill 4 is turned on, and the drill body automatically completes the feed drilling operation to achieve precise hole making of the aircraft wing.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A perforation device for a large-span airfoil, characterized in that: It includes a first AGV mobile frame, a second AGV mobile frame, an end attitude adjustment device, a differential feed device, an automatic feed drill, a winding arrangement and an aircraft wing fixing frame; The first AGV mobile frame and the second AGV mobile frame have the same structure. They are symmetrically arranged and used to drive the overall drilling mechanism to move and position. The aircraft wing fixing frame is equipped with a drilling template for clamping and fixing the aircraft wing. The winding arrangement includes multiple cables, which are respectively connected to the first AGV mobile frame, the second AGV mobile frame and the end attitude adjustment device, and are arranged inside the components of the end attitude adjustment device and the differential feed device, so as to realize the power transmission and motion traction between and within each component. The end attitude adjustment device is connected in sequence to the differential feed device, and the automatic feed drill gun is mounted on the differential feed device.

2. The perforation device for a large-span airfoil according to claim 1, characterized in that: The first AGV mobile frame includes an AGV, an aluminum profile frame, a first fixed bracket, a second fixed bracket, a third fixed bracket, a fourth fixed bracket, a first cable reel mechanism, a second cable reel mechanism, a third cable reel mechanism, a fourth cable reel mechanism, and a first steering pulley, a second steering pulley, a third steering pulley, and a fourth steering pulley; The aluminum profile frame is fixedly connected to the AGV via a first fixed bracket, a second fixed bracket, a third fixed bracket, and a fourth fixed bracket; the first cable reel mechanism is correspondingly connected to the first steering pulley, the second cable reel mechanism is correspondingly connected to the second steering pulley, the third cable reel mechanism is correspondingly connected to the third steering pulley, and the fourth cable reel mechanism is correspondingly connected to the fourth steering pulley, and each cable reel mechanism is installed on the upper surface of the AGV; the first pulley structure and the second pulley structure are respectively installed on both sides of the upper end of the aluminum profile frame.

3. The perforation device for a large-span airfoil according to claim 2, characterized in that: The first cable reel mechanism includes a motor, a motor mounting bracket, a coupling, a cable reel, a left mounting plate of the cable reel, a right mounting plate of the cable reel, a first gear, a second gear, a third gear, a sliding rod, a lead screw, a pulley frame, and pulleys. The motor is mounted on the motor mounting bracket, and its output shaft is connected to the shaft of the cable reel via the coupling. Both ends of the cable reel are connected to the left and right mounting plates of the cable reel, respectively, and its other end shaft is connected to the first gear. Both ends of the sliding rod and the lead screw are mounted on the left and right mounting plates of the cable reel, respectively, and one end of the lead screw is connected to the third gear. The pulley frame is sleeved on the sliding rod and the lead screw, and it engages with the lead screw via a lead screw nut. The second gear is mounted on the right mounting plate of the cable reel and meshes with the first and third gears, respectively. The pulleys are mounted on the pulley frame. The structure and installation method of the second, third, and fourth cable reel mechanisms are the same as those of the first cable reel mechanism.

4. The perforation device for a large-span airfoil according to claim 1, characterized in that: The end attitude adjustment device includes a left cable winding mechanism, a right cable winding mechanism, a lower plate, an upper plate, and a fixing plate; the left cable winding mechanism and the right cable winding mechanism have the same structure and are symmetrically installed on both sides of the upper plate and the lower plate; the upper plate and the lower plate have the same structure and are fixedly connected by multiple support shafts; the fixing plate is connected to a universal joint in the lower plate and is used to fix the differential feed device.

5. The perforation device for a large-span airfoil according to claim 4, characterized in that: The left-hand cable winding mechanism includes a winding mechanism housing, a first connecting plate, a second connecting plate, a first cable reel mounting frame, a second cable reel mounting frame, a first motor, a second motor, a first cable reel, a second cable reel, and multiple hanging rings. The first motor is connected to the first cable reel and fixed by a first retaining ring. The first cable reel is connected to a long shaft inside the first cable reel mounting frame via a first bearing and fixed by a second retaining ring. The second motor is connected to the second cable reel and fixed by a fourth retaining ring. The second cable reel is connected to a long shaft inside the second cable reel mounting frame via a second bearing and fixed by a third retaining ring. The first cable reel mounting frame and the second cable reel mounting frame are connected to the first connecting plate and the second connecting plate via pins, and all three are fixed to the winding mechanism housing. The hanging rings are installed at the four corners of the back of the winding mechanism housing.

6. The perforation device for a large-span airfoil according to claim 4, characterized in that: The lower plate includes a base, a retainer, 16 balls, a rotating mechanism, a protective frame, a left pulley assembly, a right pulley assembly, a first clamping plate, and a second clamping plate. The 16 balls are evenly distributed in the retainer and placed together in the groove of the base. The rotating mechanism is placed in the groove of the base and contacts the balls and the retainer. The protective frame fits against the base, surrounds the rotating mechanism, and limits its movement. The left pulley assembly and the right pulley assembly are connected by the first clamping plate and the second clamping plate to form a closed loop, surrounding and locking the base, retainer, balls, rotating mechanism, and protective frame.

7. The perforation device for a large-span airfoil according to claim 6, characterized in that: The rotating mechanism includes a rotating base, multiple pulleys, a right sliding plate, a left sliding plate, a universal joint, a first sliding rod, a second sliding rod, a first fixing buckle, and a second fixing buckle; the multiple pulleys are evenly distributed in the hollowed-out parts of the rotating base; the first fixing buckle and the second fixing buckle are respectively placed in the corresponding hollowed-out parts of the rotating base; the universal joint is installed between the right sliding plate and the left sliding plate and is respectively connected; the right sliding plate and the left sliding plate are slidably connected to the first sliding rod and the second sliding rod.

8. The perforation device for a large-span airfoil according to claim 1, characterized in that: The differential feed device includes a differential feed mechanism, a bushing, and an automatic feed gun clamp; the differential feed mechanism includes a first device base, a second device base, a third device base, a moving ring, a device cover plate, a clamp mounting plate, three feed rods, three sets of guide rods, three connectors, three buffer springs, a differential feed mechanism cable reel, and a motor. The three sets of guide rods each include a first guide rod, a second guide rod, and a third guide rod. The three sets of guide rods are evenly distributed and installed on the first device base. The second device base is sleeved on the three sets of guide rods and fixed to the first device base. Three buffer springs are evenly sleeved on the protruding platform of the second device base. The third device base is sleeved on three sets of guide rods, and the buffer spring passes through the third device base; the motor is installed on the third device base, and its output shaft is connected to the cable reel of the differential feed mechanism, which has a conical structure. The movable ring is slidably connected to the outer surface of three sets of guide rods via three connectors, and the connectors are connected to buffer springs; the device cover plate is installed on the top of the three sets of guide rods, and the three feed rods pass through the device cover plate and are fixedly connected to the movable ring via connectors; the clamp mounting plate is installed on the outer end of the feed rod, and the automatic feed gun clamp is installed on the clamp mounting plate; the bushing is installed in the middle part of the device cover plate.

9. The perforation device for a large-span airfoil according to claim 8, characterized in that: The third device base includes a base ring, a first pulley, a second pulley, and a third pulley; the first pulley, the second pulley, and the third pulley are evenly installed on the base ring; the movable ring includes a movable ring frame and a first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, and the sixth pulley, with each pulley evenly installed on the movable ring frame.

10. The perforation device for a large-span airfoil according to claim 1, characterized in that: The automatic feed drill gun includes a drill gun body and a variable diameter locking mechanism; the variable diameter locking mechanism is used to lock the automatic feed drill gun and the drill template after the automatic feed drill gun is inserted into the hole of the drill template.

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