A three-axis positioner for aircraft component attitude adjustment installation

Abstract

This application relates to a three-coordinate positioner for attitude adjustment and installation of aircraft components, belonging to the field of aircraft manufacturing technology. It includes a fixed base, a movable plate, a movable sleeve, a movable column, and a ball joint locking mechanism. The movable plate, movable sleeve, and movable column are all transmissionally connected to the fixed base and form three sets of mutually perpendicular kinematic pairs through sliding fit. The movable column is slidably fitted within the movable sleeve, allowing the ball joint module to be adjusted in the X, Y, and Z directions. The ball joint locking mechanism is used to lock the ball joint rod, which is used to connect to the aircraft component. It also includes a first servo unit, a second servo unit, and a third servo unit. The first servo unit drives the movable plate to move, the second servo unit drives the movable sleeve to move, and the third servo unit drives the movable column to move. This application has the effect of reducing the sway, offset, and deformation of the end effector, and improving the positioning accuracy and attitude adjustment stability under heavy load conditions.

Description

Technical Field

[0001] This application relates to the field of aircraft manufacturing technology, and in particular to a three-coordinate positioner for attitude adjustment and installation of aircraft components. Background Technology

[0002] During the attitude adjustment and installation of aircraft components, a coordinate measuring machine (CMM) is typically used to support the components and adjust their positions in the X, Y, and Z axes to ensure accurate positioning and docking with other components. Because aircraft components are usually large, heavy, irregularly shaped, and have significant center of gravity offsets, the CMM must not only enable multi-directional motion adjustment but also possess high structural stability, load-bearing capacity, and anti-tipping ability.

[0003] Existing three-coordinate positioners typically consist of multiple moving components connected sequentially to form a three-dimensional kinematic chain, with a connecting component at the end to connect to aircraft components. While this type of structure can meet basic usage requirements under light loads or conventional adjustment scenarios, it still has shortcomings in aircraft component attitude adjustment and installation scenarios.

[0004] When the load of an aircraft component is transmitted to the end of the positioner via the ball joint, especially when the load application point is off-center from the main support centerline of the positioner, large bending moments and overturning moments are easily generated. Due to insufficient lateral constraint and containment support for the moving components in the existing structure, the overall anti-overturning capacity of the positioner is insufficient, making it prone to end swaying, offset, or local deformation. Moreover, after multiple stages of moving components are stacked, they are prone to swaying and deformation under heavy loads, which in turn affects the accuracy and stability of the aircraft component attitude adjustment and installation. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a three-coordinate positioner for attitude adjustment and installation of aircraft components.

[0006] The three-coordinate positioner for attitude adjustment and installation of aircraft components provided in this application adopts the following technical solution: A three-coordinate positioner for attitude adjustment and installation of aircraft components includes a fixed base, a movable plate, a movable sleeve, a movable column, and a ball joint locking mechanism. The movable plate, the movable sleeve, and the movable column are all connected to the fixed base in a transmission manner, and form three sets of mutually perpendicular kinematic pairs through sliding fit. The movable column is slidably sleeved in the movable sleeve so that the ball socket module can be adjusted in position in the X, Y, and Z directions. The movable column is slidably sleeved within the movable sleeve; The ball joint locking mechanism is used to lock the ball joint rod, which is used to connect with aircraft components. It also includes a first servo unit, a second servo unit, and a third servo unit. The first servo unit is used to drive the moving plate to move, the second servo unit is used to drive the moving sleeve to move, and the third servo unit is used to drive the moving column to move.

[0007] By adopting the above technical solution, the moving column is slidably sleeved inside the moving sleeve, and the moving sleeve forms an inclusive guiding support for the moving column, which can enhance the lateral constraint between moving components, improve the overall structural stability and anti-overturning ability of the three-coordinate positioner; when the ball joint connects to aircraft components and bears off-center load, it can reduce the swaying, offset and deformation of the end moving component, and improve the positioning accuracy and attitude adjustment stability under heavy load conditions.

[0008] Optionally, the fixed base is a frame structure, the movable sleeve passes through the fixed base and is slidably connected, the movable sleeve moves along the Z direction, the movable plate is slidably connected to the end of the movable column, the movable column moves along the Y direction, and the movable plate moves along the X direction; A fixed plate is provided at the bottom of the movable column, the nut seat of the first servo unit is fixed on the fixed plate, the motor and lead screw of the first servo unit are provided on the movable plate, and the lead screw of the first servo unit is located below the movable plate. The ball head locking mechanism is provided on the movable plate. The second servo unit is a dual servo drive structure. The two lead screws of the second servo drive unit are arranged on each side of the moving base, and the two lead screws of the second servo drive unit are symmetrically arranged about the central axis of the moving sleeve. The two nut seats of the second servo drive unit are arranged on the moving sleeve. The movable base has a receiving slot, the lead screw of the third servo unit is disposed in the movable sleeve, and the nut seat of the third servo unit is located in the receiving slot and connected to the movable base.

[0009] By adopting the above technical solution, the fixed seat, movable sleeve, movable column, and movable plate form a cantilevered three-coordinate positioning structure, which enables the end ball locking mechanism to have good lateral insertion capability, making it suitable for attitude adjustment and installation of aircraft parts with complex shapes, recessed support positions, or interference from surrounding tooling. The lead screw of the first servo unit is located below the movable plate, which can shield and protect the lead screw with the help of the movable plate, reducing the impact of debris and foreign objects on the transmission structure. The second servo unit adopts a dual-servo symmetrical drive structure, which can improve the drive balance and synchronization of the movable sleeve and movable column in the cantilever state, thereby improving the stability and positioning accuracy of attitude adjustment and installation of large-size and heavy aircraft parts. The third servo unit is set inside the movable sleeve and arranged in conjunction with the receiving through slot, which can reduce the external space occupied and make the overall structure of the positioner more compact.

[0010] Optionally, a first counterweight cylinder is provided on the fixed base, the piston rod of the first counterweight cylinder is connected to the bottom of the movable sleeve, the movable column is slidably connected to the movable sleeve through a hard rail and a slide rail, and the movable sleeve is slidably connected to the base through a hard rail and a slide rail.

[0011] By adopting the above technical solution, the piston rod of the first counterweight cylinder is connected to the bottom of the moving sleeve, which can provide vertical support force to the moving sleeve to balance part of the weight of the moving sleeve, the moving column and the components it carries. This reduces the load that the second servo unit needs to overcome when driving the moving sleeve, and improves the driving smoothness and adjustment accuracy of the second servo unit in the dual-servo drive process. At the same time, the first counterweight cylinder can also provide auxiliary support for the moving sleeve and the moving column in the cantilevered state, reduce the downward deflection and sway under the cantilever condition, and improve the overall structural stability of the positioner. Furthermore, the moving column is slidably connected to the moving sleeve through the hard rail and the sliding rail, and the moving sleeve is slidably connected to the fixed seat through the hard rail and the sliding rail. This can improve the guiding accuracy and load-bearing capacity between the moving components, thereby further ensuring the positioning accuracy and movement stability during the attitude adjustment and installation process of aircraft components.

[0012] Optionally, the fixed base, the movable sleeve, and the movable plate are all provided with a first grating ruler. The first grating ruler on the fixed base is used to measure the displacement of the movable sleeve, the first grating ruler on the movable sleeve is used to measure the displacement of the movable sleeve, and the first grating ruler on the movable plate is used to measure the displacement of the movable plate. The end of the movable column is provided with a first limit switch, and the movable plate is provided with a first sensing block. When the first limit switch is opposite to the first sensing block, the first servo unit stops operating. The movable sleeve is provided with a second limit switch, and the movable column is provided with a second sensing block. When the second limit switch is opposite to the second sensing block, the third servo unit stops operating. The movable sleeve is equipped with a third limit switch, and the fixed base is equipped with a third sensing block. When the third limit switch is opposite to the third sensing block, the second servo unit stops operating.

[0013] By adopting the above technical solution, the first grating ruler set on the fixed base, the movable sleeve, and the movable plate can respectively detect the displacement of the corresponding moving components, providing position feedback information for the three sets of kinematic pairs. This is conducive to realizing closed-loop control of the three-coordinate positioner and improving the motion adjustment accuracy and repeatability in each direction. Furthermore, the first limit switch and the first sensing block, the second limit switch and the second sensing block, and the third limit switch and the third sensing block respectively constitute three sets of limit protection structures. When the corresponding moving component moves to the predetermined stroke position, the corresponding servo unit can be stopped to prevent the moving component from exceeding the set stroke, avoiding collisions, jamming, or structural damage, thereby improving the safety and reliability of the positioner.

[0014] Optionally, the fixed base is a plate structure, the movable plate is slidably connected to the top of the fixed base, the movable plate moves along the X direction, the movable sleeve is slidably connected to the movable plate, the movable sleeve moves along the Y direction, the movable column moves along the Z direction, and the ball head locking mechanism is disposed on the top of the movable column; The lead screw and motor of the third servo unit are mounted on the movable sleeve. A movable opening is provided on one side of the movable sleeve. The nut seat of the third servo unit is mounted on the movable column and extends out of the movable opening.

[0015] By adopting the above technical solution, the fixed base, movable plate, movable sleeve, and movable column form a straight column three-coordinate positioning structure, which enables the load of the aircraft component to be transferred step by step along the movable column, movable sleeve, movable plate, and fixed base, thereby improving the overall load-bearing capacity and structural stability of the positioner, making it suitable for attitude adjustment and installation of heavy aircraft components; the third servo unit is located on one side of the movable sleeve and is connected to the nut seat on the movable column through the movable port, which can increase the arrangement space of the third servo unit while ensuring the transmission connection, thereby helping to improve the driving force and load-bearing capacity of the movable column when it moves along the Z direction.

[0016] Optionally, a second counterweight cylinder is provided inside the movable column. The second counterweight cylinder is vertically arranged. A supporting rigid rail is provided on the movable plate. A slider is provided on the supporting rigid rail. The piston rod of the second counterweight cylinder is connected to the slider.

[0017] By adopting the above technical solution, the second counterweight cylinder is set inside the moving column and arranged vertically. It can provide continuous vertical support to the moving column when it moves up and down in the Z direction, so as to offset part of the weight of the moving column and its end load and reduce the driving burden of the third servo unit. At the same time, the piston rod is connected to the slider and guided by the support rigid rail, which can avoid the second counterweight cylinder from being affected by the lateral force on the piston rod during the counterweighting process, thereby improving the stability of the moving column's lifting and lowering movement under heavy load conditions.

[0018] Optionally, a second grating ruler is provided on the fixed base, the movable plate, and the movable sleeve. The second grating ruler on the fixed base is used to measure the displacement of the movable plate, the second grating ruler on the movable plate is used to measure the displacement of the movable sleeve, and the second grating ruler on the movable sleeve is used to measure the displacement of the movable column. The movable plate is provided with a fourth limit switch, and the fixed base is provided with a fourth sensing block. When the fourth limit switch is opposite to the fourth sensing block, the first servo unit stops operating. The movable plate is provided with a fifth sensing block, and the movable sleeve is provided with a fifth limit switch. When the fifth limit switch is opposite to the fifth sensing block, the second servo unit stops operating. The movable sleeve is equipped with a sixth limit switch, and the movable column is equipped with a sixth sensing block. When the sixth sensing block is opposite to the sixth limit switch, the third servo unit stops operating.

[0019] Optionally, the fixed base is a rectangular plate structure, and there are two movable plates, two movable sleeves, and two movable columns. The two movable plates are slidably connected to the top surface of the fixed base. The movable plates move along the X direction, and each movable plate has a movable sleeve slidably connected to its top. The movable sleeves move along the Y direction.

[0020] By adopting the above technical solution, two movable plates, two movable sleeves, and two movable columns can form two parallel vertical column positioning units. The two positioning units can move synchronously with the movable plates along the X direction to achieve overall position adjustment. At the same time, each movable sleeve can move independently along the Y direction, and each movable column can move independently along the Z direction. This allows the two positioning units to independently adjust the two support positions of the aircraft component, which is beneficial for adapting to aircraft components with large length, large span, or differences in the height and front-back positions of the two support points, and improves the support stability and attitude adjustment accuracy of the aircraft component during attitude adjustment and installation.

[0021] Optionally, a seventh limit switch is provided on the movable plate, and a seventh sensing block is provided on the fixed base. When the seventh limit switch is opposite to the sixth sensing block, the first servo unit stops operating. The movable plate is provided with an eighth sensing block, and the movable sleeve is provided with an eighth limit switch. When the eighth sensing block is opposite to the eighth limit switch, the second servo unit stops operating. The movable sleeve has a movable opening, the nut seat of the third servo unit is mounted on the movable column and extends out of the movable opening, the movable sleeve is provided with a ninth sensing block, the nut seat of the third servo unit is provided with a ninth limit switch, and when the ninth limit switch is opposite to the ninth sensing block, the third servo unit stops operating. The fixed base, the movable plate, and the movable sleeve are all equipped with a third grating ruler. The third grating ruler of the fixed base is used to measure the displacement of the movable plate, the third grating ruler of the movable plate is used to measure the displacement of the movable sleeve, and the third grating ruler of the movable sleeve is used to measure the displacement of the movable column.

[0022] Optionally, the seventh limit switch is installed at the bottom of the movable plate, the movable plate is provided with a first movable cover and a second movable cover, the third grating ruler of the fixed base extends out of the first movable cover, and the second movable cover covers the lead screw of the first servo unit; The third grating ruler, the eighth limit switch, and the eighth sensing block of the movable plate are located near the lead screw of the second servo unit. A third movable cover is provided on the movable sleeve, which covers the third grating ruler, the eighth limit switch, the eighth sensing block, and the lead screw of the second servo unit of the movable plate. The third grating ruler, the ninth limit switch, and the ninth sensing block of the movable sleeve are arranged near the lead screw of the third servo unit. A fixed cover is provided on the movable sleeve, which covers the third grating ruler, the ninth limit switch, the ninth sensing block, and the lead screw of the third servo unit.

[0023] By adopting the above technical solution, the first movable cover shields and protects the third grating ruler on the fixed base; the second movable cover shields and protects the lead screw of the first servo unit; the third movable cover shields and protects the third grating ruler, the eighth limit switch, the eighth sensing block, and the lead screw of the second servo unit on the movable plate; and the fixed cover shields and protects the third grating ruler, the ninth limit switch, the ninth sensing block, and the lead screw of the third servo unit on the movable sleeve. This reduces the possibility of debris, dust, and foreign objects generated during the attitude adjustment and installation of aircraft components adhering to or falling onto the above-mentioned detection and transmission components, and avoids affecting the detection accuracy of the grating ruler, the sensing reliability of the limit switch and the sensing block, and the transmission smoothness of the lead screw.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. The movable column is slidably sleeved inside the movable sleeve, which forms an inclusive guiding support for the movable column. This can enhance the lateral constraint between moving components, improve the overall structural stability and anti-overturning ability of the three-coordinate positioner; when the ball joint connects to aircraft components and bears off-center load, it can reduce the swaying, offset and deformation of the end moving component, and improve the positioning accuracy and attitude adjustment stability under heavy load conditions. 2. The first counterweight cylinder can provide vertical support for the moving sleeve, improving the driving stability and adjustment accuracy during the dual-servo drive process of the second servo unit; at the same time, the first counterweight cylinder can also provide auxiliary support for the moving sleeve and moving column in the cantilever state, reducing the downward deflection and sway under the cantilever condition, and improving the overall structural stability of the positioner. 3. The fixed seat, movable sleeve, movable column and movable plate form a cantilevered three-coordinate positioning structure, which gives the end ball locking mechanism a good lateral insertion capability, and is suitable for attitude adjustment and installation of aircraft parts with complex shape envelope, recessed support position or tooling interference around them. 4. The fixed base, movable plate, movable sleeve and movable column form a straight column three-coordinate positioning structure, which enables the load of the aircraft component to be transferred step by step along the movable column, movable sleeve, movable plate and fixed base, thereby improving the overall load-bearing capacity and structural stability of the positioner, and is suitable for attitude adjustment and installation of heavy aircraft components. 5. Two movable plates, two movable sleeves, and two movable columns can form two parallel vertical column positioning units. The two positioning units can move synchronously with the movable plates along the X direction to achieve overall position adjustment. At the same time, each movable sleeve can move independently along the Y direction, and each movable column can move independently along the Z direction. This allows the two positioning units to independently adjust the two support positions of the aircraft component, which is beneficial for adapting to aircraft components with large length, large span, or differences in the height and front-to-back position of the two support points. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application.

[0026] Figure 2 This is a schematic diagram illustrating the structure of the first counterweight cylinder in an embodiment of this application.

[0027] Figure 3 This is a schematic diagram illustrating the structure of the second limit switch and the third limit switch in the embodiments of this application.

[0028] Figure 4 This is a schematic diagram illustrating the structure of the movable plate in an embodiment of this application.

[0029] Figure 5 This is a schematic diagram illustrating the structure of the support cylinder in an embodiment of this application.

[0030] Figure 6 This is a schematic diagram of the overall structure of Embodiment 2 of this application.

[0031] Figure 7 This is a schematic diagram illustrating the structure of the second counterweight cylinder and the supporting rigid rail in an embodiment of this application.

[0032] Figure 8 This is a schematic diagram illustrating the structure of the second grating ruler in an embodiment of this application.

[0033] Figure 9 This is a schematic diagram illustrating the structure of the sixth limit switch in an embodiment of this application.

[0034] Figure 10 This is a schematic diagram of the overall structure of Embodiment 3 of this application. Figure 11 yes Figure 10 An enlarged schematic diagram of part A in the middle.

[0035] Figure 12 This is a schematic diagram illustrating the structure of the seventh limit switch and the seventh sensing block in an embodiment of this application. Explanation of reference numerals in the attached drawings: 1. Fixed base; 11. First counterweight cylinder; 12. Third sensing block; 13. Seventh sensing block; 2. Moving sleeve; 21. Second limit switch; 22. Third limit switch; 23. Movable opening; 24. Fifth limit switch; 25. Sixth limit switch; 26. Moving opening; 27. Eighth limit switch; 28. Ninth sensing block; 29. ​​Third moving cover; 210. Fixed cover; 3. Moving column; 31. Receiving slot; 32. First limit switch; 33. Second sensing block; 34. Second counterweight cylinder; 35. Slider; 36. Sixth sensing block; 37. Ninth limit switch; 38. Fixed plate; 4. Moving plate; 41. First sensing block; 42. Support cylinder; 43. Support plate; 44. Support ball; 45. Opening; 46. Support rigid rail; 47. Fourth limit switch; 48. Fourth sensing block; 49. Fifth sensing block; 410. Seventh limit switch; 411. Eighth sensing block; 412. First moving cover; 413. Second moving cover; 5. First servo unit; 6. Second servo unit; 7. Third servo unit; 8. Ball head locking mechanism; 91. First grating ruler; 92. Second grating ruler; 93. Third grating ruler. Detailed Implementation

[0036] The following is in conjunction with the appendix Figure 1-12 This application will be described in further detail. Example

[0037] Embodiment 1 of this application discloses a three-coordinate positioner for attitude adjustment and installation of aircraft components.

[0038] like Figure 1, Figure 2 and Figure 3 The coordinate measuring machine (CMM) for attitude adjustment and installation of aircraft components includes a fixed base 1, which is a frame-type column structure and L-shaped. A movable sleeve 2 passes through the fixed base 1, with its central axis parallel to the bottom surface of the fixed base 1. The movable sleeve 2 is I-shaped and slidably connected to the fixed base 1. Specifically, slide rails are provided on the left and right sides of the front end of the fixed base 1 to form a slidable connection with the movable sleeve 2, and rigid rails are provided on the left and right sides of the rear end of the fixed base 1 to form a guiding engagement with the movable sleeve 2, allowing the movable sleeve 2 to move along the Z-axis. A movable column 3 is inserted inside the movable sleeve 2. The cross-sectional dimensions of the movable column 3 are smaller than those of the movable sleeve 2, so that there is space between the movable column 3 and the movable sleeve 2 to accommodate other components. The movable column 3 and the movable sleeve 2 are slidably connected. Specifically, the left and right sides of the bottom surface of the movable column 3 are provided with slide rails to form a slidable connection with the movable sleeve 2, and the left and right sides of the top surface of the movable column 3 are provided with rigid rails to form a guide engagement with the movable sleeve 2, so that the movable column 3 can move along the Y direction. A movable plate 4 is slidably connected to the front end face of the movable column 3. Slide rails are provided on the upper and lower sides of the movable plate 4 facing the movable column 3 to form a sliding connection with the movable column 3, so that the movable plate 4 can move along the X direction. A protrusion is provided at the end of the movable plate 4 away from the movable column 3, and a ball head locking mechanism 8 is installed on the top surface of the protrusion.

[0039] The ball head locking mechanism 8 is used to connect the ball head rod. The ball head locking mechanism 8 can lock the ball part of the ball head rod. The other end of the ball head rod is connected to the aircraft component so that the aircraft component is reliably connected to the three-coordinate positioner. It can also unlock the ball part of the ball head rod when it is necessary to disengage.

[0040] The ball-head locking mechanism 8 employs existing equipment and typically includes a housing, a locking drive assembly, and a locking motion assembly. The locking motion assembly is housed within the housing and engages with the spherical portion. The locking drive assembly drives the locking motion assembly to move, thereby placing the ball-head locking mechanism 8 in a locked, escape-proof, or unlocked state. In some embodiments, the locking motion assembly includes several locking members distributed circumferentially along the spherical portion. These locking members can move towards the spherical portion under the drive of the locking drive assembly to clamp and lock the spherical portion, or move away from the spherical portion to release it. Preferably, the locking motion assembly is a three-jaw locking structure.

[0041] The ball joint locking mechanism 8 can be automatically controlled by pneumatic drive. When the ball part of the ball joint enters the ball joint locking mechanism 8 and reaches the predetermined position, the locking drive assembly drives the three-jaw locking structure to automatically lock the ball part. When the aircraft part leaves, the locking drive assembly drives the three-jaw locking structure to reset, so that the ball part automatically unlocks and moves out smoothly. To improve the safety of the connection, the ball joint locking mechanism 8 also has an anti-escape function to prevent the ball part from accidentally coming out before it is completely disengaged.

[0042] The ball head locking mechanism 8 has a locked state, an escape-prevention state, and an unlocked state. When the ball head locking mechanism 8 is in the locked state, the locking motion component contacts the ball portion and forms a locking constraint to ensure that the ball socket and the ball head do not separate. When the ball head locking mechanism 8 is in the escape-prevention state, the locking motion component maintains a very small gap or virtually no gap with the ball portion, preventing the ball portion from accidentally coming out without forming a complete lock. When the ball head locking mechanism 8 is in the unlocked state, the locking motion component moves away from the ball portion, allowing the ball portion to smoothly move out of the ball head locking mechanism 8.

[0043] In addition, the ball head locking mechanism 8 can also be equipped with a status detection component to detect and provide feedback on the execution status of the locking state, the anti-escape state, and the unlocking state, so that the control system can monitor the working status of the ball head locking mechanism 8.

[0044] For ease of implementation, the ball joint locking mechanism 8 in this embodiment can be an existing mature product. For example, the LQNC-max200-V3 ball joint locking mechanism 8 from Speedy can be selected as the ball joint locking mechanism 8. The above model is only an example for illustration. Any ball joint locking mechanism 8 that can realize the functions of locking, preventing escape, unlocking and status feedback of the ball part of the ball joint can be applied to this application.

[0045] like Figure 1 and Figure 2 A second servo unit 6 is provided on the fixed base 1. The second servo unit 6 is used to drive the movable sleeve 2 to move. In this embodiment, the second servo unit 6 is a dual-motor servo drive structure, that is, the lead screws of the second servo unit 6 are rotatably connected to each side of the front end of the fixed base 1, and the nut seat of the second servo unit 6 is provided at the end of the movable sleeve 2. The two lead screws of the second servo unit 6 are symmetrically arranged about the central axis of the movable sleeve 2. A first counterweight cylinder 11 is vertically arranged on the fixed base 1. The first counterweight cylinder 11 is a hydraulic cylinder. The piston rod of the first counterweight cylinder 11 is fixedly connected to the bottom of the front end of the movable sleeve 2, and the central axis of the piston rod of the first counterweight cylinder 11 intersects and is perpendicular to the central axis of the movable sleeve 2.

[0046] like Figure 3The bottom of the movable column 3 is provided with a receiving groove 31, which extends to both the front and rear ends of the movable column 3. A third servo unit 7 is provided in the receiving groove 31. The lead screw of the third servo unit 7 is rotatably connected in the movable sleeve 2, and the nut seat of the third servo unit 7 is fixed in the receiving groove 31.

[0047] like Figure 1 and Figure 2 The bottom of the movable column 3 is provided with a fixed plate 38, and the bottom of the movable plate 4 is provided with a first servo unit 5. The nut seat of the first servo unit 5 is fixed on the fixed plate 38, and the lead screw of the first servo unit 5 is rotatably connected to the bottom of the movable plate 4.

[0048] like Figure 3 and Figure 4 A first grating ruler 91 is vertically arranged on the rear end face of the fixed base 1, a first grating ruler 91 is arranged on the side wall of the movable sleeve 2 along its length direction, and a first grating ruler 91 is arranged on the side of the movable plate 4 facing the end face of the movable column 3.

[0049] A first limit switch 32 is provided on the side of the moving column 3 facing the end of the moving plate 4. Two first sensing blocks 41 are provided on the side of the moving plate 4 facing the moving column 3. One of the first sensing blocks 41 is near one end of the moving plate 4, and the other first sensing block 41 is near the middle of the moving plate 4. When the first limit switch 32 is opposite to the first sensing block 41, the first servo unit 5 stops operating.

[0050] like Figure 3 A second limit switch 21 is provided on the rear end face of the movable sleeve 2, and a second sensing block 33 is provided on one side of the movable column 3. When the second limit switch 21 is opposite to the second sensing block 33, the third servo unit 7 stops operating. A third limit switch 22 is provided at the bottom of the rear end face of the movable sleeve 2, and two third sensing blocks 12 are provided on the rear end face of the fixed base 1. One third sensing block 12 is located near the bottom of the fixed base 1, and the other third sensing block 12 is located near the middle of the fixed base 1. When the third limit switch 22 is opposite to the third sensing block 12, the second servo unit 6 stops operating.

[0051] like Figure 5 Furthermore, a support cylinder 42 is connected to the bottom of the protrusion of the movable plate 4, and the support cylinder 42 is connected to a support plate 43. Four support balls 44 are rotatably connected to the bottom of the support plate 43, and the four support balls 44 are distributed at the four bottom corners of the support plate 43. This allows the support cylinder 42 to move along the X and Y directions and support the movable plate 4, further reducing the deformation of the movable column 3.

[0052] The implementation principle of this application embodiment is as follows: The fixed base 1, the movable sleeve 2, the movable column 3, and the movable plate 4 form a cantilevered three-coordinate positioning structure, which enables the end ball locking mechanism 8 to have good lateral penetration capability, suitable for adjusting and installing aircraft parts with complex shape envelope, recessed support position, or tooling interference around them; the lead screw of the first servo unit 5 is located below the movable plate 4, which can shield and protect the lead screw with the help of the movable plate 4, reducing the impact of debris and foreign objects on the transmission structure; the second servo unit 6 adopts a dual servo symmetrical drive structure, which can improve the drive balance and synchronization of the movable sleeve 2 and the movable column 3 in the cantilever state, thereby improving the stability and positioning accuracy of large-size, heavy (maximum weight up to 10 tons) aircraft parts during attitude adjustment and installation; the third servo unit 7 is set in the movable sleeve 2 and arranged in conjunction with the receiving through slot 31, which can reduce the external space occupied and make the overall structure of the positioner more compact. Example

[0053] Embodiment 2 of this application discloses a three-coordinate positioner for attitude adjustment and installation of aircraft components.

[0054] like Figure 6 The coordinate measuring machine (CMM) for attitude adjustment and installation of aircraft components includes a fixed base 1, which is a plate-type structure. A movable plate 4 is slidably connected to the top surface of the fixed base 1. The movable plate 4 is also a plate-type structure, but its size is smaller than that of the fixed base 1. Specifically, the movable plate 4 is slidably connected to the fixed base 1 via two slide rails, each of which is positioned opposite one side of the bottom surface of the movable plate 4. This allows the movable plate 4 to move along the X-axis.

[0055] A movable sleeve 2 is slidably connected to the movable plate 4. The central axis of the movable sleeve 2 is vertically set, and the cross-sectional dimension of the movable sleeve 2 is smaller than the top surface dimension of the movable plate 4. Specifically, the movable sleeve 2 is slidably connected to the movable plate 4 via double slide rails. Each of the two slide rails is set opposite to one side of the bottom surface of the movable sleeve 2, so that the movable sleeve 2 can move along the Y direction.

[0056] like Figure 6 and Figure 7 A movable column 3 slides inside the movable sleeve 2. The movable column 3 has a hollow structure and is slidably connected to the movable sleeve 2 via double slide rails, allowing the movable column 3 to move along the Z-axis. An opening 45 is provided on the movable plate 4, and the opening 45 remains connected to the channel of the movable sleeve 2. A supporting rigid rail 46 is provided on the movable plate 4, located within the opening 45. A second counterweight cylinder 34 is installed inside the movable column 3, with its piston rod extending out from the bottom surface of the movable column 3. The second counterweight cylinder 34 is vertically positioned. A slider 35 is provided on the supporting rigid rail 46, and the slider 35 is connected to the piston rod of the second counterweight cylinder 34. A ball-head locking mechanism 8 is installed on the top of the movable column 3.

[0057] like Figure 6A first servo unit 5 is provided on the fixed base 1. The lead screw of the first servo unit 5 is rotatably connected to the fixed base 1. The lead screw of the first servo unit 5 is set parallel to the slide rail on the fixed base 1. The nut seat of the first servo unit 5 is installed on the moving plate 4.

[0058] A second servo unit 6 is provided on the movable plate 4. The lead screw of the second servo unit 6 is rotatably connected to the movable plate 4. The lead screw of the second servo unit 6 is set parallel to the slide rail of the movable plate 4. The nut seat of the second servo unit 6 is installed on the movable sleeve 2.

[0059] A third servo unit 7 is provided on the movable sleeve 2. A movable opening 23 is provided on one side of the movable sleeve 2. The lead screw of the third servo unit 7 is rotatably connected to one side of the movable sleeve 2, and the lead screw of the third servo unit 7 is set parallel to the slide rail of the movable column 3. The nut seat of the third servo unit 7 is fixed on the movable column 3, and the nut seat of the third servo unit 7 extends out of the movable sleeve 2 through the movable opening 23.

[0060] like Figure 8 and Figure 9 A second grating ruler 92 is provided on the fixed base 1, the movable plate 4, and the movable sleeve 2. The second grating ruler 92 of the fixed base 1 is set parallel to the slide on the fixed base 1 and is used to measure the displacement of the movable plate 4. The second grating ruler 92 of the movable plate 4 is set parallel to the slide rail of the movable plate 4 and is used to measure the displacement of the movable sleeve 2. The second grating ruler 92 of the movable sleeve 2 is set parallel to the slide rail of the movable column 3 and is used to measure the displacement of the movable column 3.

[0061] like Figure 6 and Figure 9 The movable plate 4 is provided with a fourth limit switch 47, and the fixed base 1 is provided with two fourth sensing blocks 48. The two fourth sensing blocks 48 are arranged parallel to the slide rail on the fixed base 1. When the fourth limit switch 47 is opposite to the fourth sensing block 48, the first servo unit 5 stops operating. The movable plate 4 is provided with two fifth sensing blocks 49, and the movable sleeve 2 is provided with a fifth limit switch 24. The two fifth sensing blocks 49 are arranged parallel to the slide rail of the movable plate 4. When the fifth limit switch 24 is opposite to the fifth sensing block 49, the second servo unit 6 stops operating. The movable sleeve 2 is equipped with a sixth limit switch 25, and the movable column 3 is equipped with two sixth sensing blocks 36. The two sixth sensing blocks 36 are arranged parallel to the central axis of the movable column 3. One of the sixth sensing blocks 36 is located near the top of the movable seat. When the sixth sensing block 36 is opposite to the sixth limit switch 25, the third servo unit 7 stops operating.

[0062] The implementation principle of Example 2 is as follows: The fixed base 1, the movable plate 4, the movable sleeve 2, and the movable column 3 form a straight column three-coordinate positioning structure, which allows the load of the aircraft component to be transmitted step by step along the movable column 3, the movable sleeve 2, the movable plate 4, and the fixed base 1, thereby improving the overall load-bearing capacity and structural stability of the positioner. It is suitable for adjusting and installing aircraft components with large weight (the maximum weight can usually reach 20 tons). The third servo unit 7 is set on one side of the movable sleeve 2 and is connected to the nut seat on the movable column 3 through the movable port 23. This can increase the arrangement space of the third servo unit 7 while ensuring the transmission connection, which is conducive to improving the driving force and load-bearing capacity of the movable column 3 when it moves along the Z direction. Example

[0063] Embodiment 3 of this application discloses a three-coordinate positioner for attitude adjustment and installation of aircraft components.

[0064] like Figure 10 The coordinate measuring machine (CMM) for attitude adjustment and installation of aircraft components includes a fixed base 1, which is a rectangular plate structure. There are two movable plates 4, two movable sleeves 2, and two movable columns 3. Both movable plates 4 are slidably connected to the top surface of the fixed base 1. Specifically, the fixed base 1 is slidably connected to the two movable plates 4 via two slide rails, allowing the movable plates 4 to move along the X-axis. Each movable plate 4 has a movable sleeve 2 slidably connected to its top via two slide rails, allowing the movable sleeve 2 to move along the Y direction; each movable sleeve 2 is connected to a movable column 3 via two slide rails, allowing the movable column 3 to move along the Z direction. A ball head locking mechanism 8 is installed on the top of the movable column 3.

[0065] Two first servo units 5 are provided on the fixed base 1. Each of the two first servo units 5 is used to drive a moving plate 4 to move. The lead screw of the first servo unit 5 is set parallel to the slide rail of the fixed base 1, and the nut seat of the first servo unit 5 is fixed on the moving plate 4.

[0066] A second servo unit 6 is provided on the movable plate 4. The lead screw of the second servo unit 6 is set parallel to the slide rail on the movable sleeve 2. The nut seat of the second servo unit 6 is fixed on the movable sleeve 2.

[0067] The movable sleeve 2 is equipped with a third servo unit 7, and the movable sleeve 2 has a movable port 26. The nut seat of the third servo unit 7 is mounted on the movable column 3 and extends out of the movable port 26. The lead screw of the third servo unit 7 is rotatably connected to the movable sleeve 2 and is set parallel to the slide rail of the movable column 3.

[0068] like Figure 11 and Figure 12The bottom surface of the movable plate 4 is provided with a seventh limit switch 410, and the fixed base 1 is provided with two seventh sensing blocks 13. The two seventh sensing blocks 13 are arranged parallel to the slide rail on the fixed base 1. When the seventh limit switch 410 is opposite to the seventh sensing block 13, the first servo unit 5 stops operating. The movable plate 4 is provided with two eighth sensing blocks 411, which are arranged parallel to the lead screw of the second servo unit 6. The movable sleeve 2 is provided with an eighth limit switch 27. When the eighth sensing block 411 is opposite to the eighth limit switch 27, the second servo unit 6 stops operating. The movable sleeve 2 is provided with two ninth sensing blocks 28, which are arranged along the central axis of the movable sleeve 2. The nut seat of the third servo unit 7 is provided with a ninth limit switch 37. When the ninth limit switch 37 is opposite to the ninth sensing block 28, the third servo unit 7 stops operating. A third grating ruler 93 is provided on the fixed base 1, the movable plate 4, and the movable sleeve 2. The third grating ruler 93 of the fixed base 1 is set parallel to the slide rail of the fixed base 1 and is used to measure the displacement of the movable plate 4. The third grating ruler 93 of the movable plate 4 is set parallel to and close to the lead screw of the second servo unit 6 and is used to measure the displacement of the movable sleeve 2. The third grating ruler 93 of the movable sleeve 2 is set parallel to and close to the lead screw of the third servo unit 7 and is used to measure the displacement of the movable column 3.

[0069] The movable plate 4 is provided with a first movable cover 412 and a second movable cover 413. The third grating ruler 93 of the fixed base 1 extends out of the first movable cover 412, and the second movable cover 413 covers the lead screw of the first servo unit 5. The third grating ruler 93, the eighth limit switch 27, and the eighth sensing block 411 of the movable plate 4 are located near the lead screw of the second servo unit 6. The movable sleeve 2 is provided with a third movable cover 29, which covers the third grating ruler 93, the eighth limit switch 27, the eighth sensing block 411 of the movable plate 4, and the lead screw of the second servo unit 6. The third grating ruler 93, the ninth limit switch 37, and the ninth sensing block 28 of the movable sleeve 2 are located near the lead screw of the third servo unit 7. A fixed cover 210 is provided on the movable sleeve 2, which covers the third grating ruler 93, the ninth limit switch 37, the ninth sensing block 28 and the lead screw of the third servo unit 7.

[0070] The implementation principle of Example 3 is as follows: Two movable plates 4, two movable sleeves 2, and two movable columns 3 can form two parallel straight column positioning units. The two positioning units can move synchronously with the movable plates 4 along the X direction to achieve overall position adjustment. At the same time, each movable sleeve 2 can move independently along the Y direction, and each movable column 3 can move independently along the Z direction, so that the two positioning units can independently adjust the two support positions of the aircraft component. This is beneficial for adapting to aircraft components with large length, large span, or differences in the height and front and rear positions of the two support points, and improves the support stability and attitude adjustment accuracy of the aircraft component during attitude adjustment and installation.

[0071] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A three-coordinate positioner for attitude adjustment and installation of aircraft components, characterized in that: It includes a fixed base (1), a movable plate (4), a movable sleeve (2), a movable column (3), and a ball head locking mechanism (8); The movable plate (4), the movable sleeve (2) and the movable column (3) are all connected to the fixed base (1) in a transmission manner, and form three sets of mutually perpendicular kinematic pairs through sliding fit. The movable column (3) is slidably sleeved in the movable sleeve (2) so that the ball head locking mechanism (8) can be adjusted in position in the X, Y and Z directions. The movable column (3) is slidably sleeved inside the movable sleeve (2); The ball joint locking mechanism (8) is used to lock the ball joint rod, which is used to connect with aircraft components; It also includes a first servo unit (5), a second servo unit (6) and a third servo unit (7). The first servo unit (5) is used to drive the moving plate (4) to move, the second servo unit (6) is used to drive the moving sleeve (2) to move, and the third servo unit (7) is used to drive the moving column (3) to move.

2. The coordinate measuring machine for attitude adjustment and installation of aircraft components according to claim 1, characterized in that: The fixed base (1) is a frame structure. The movable sleeve (2) passes through the fixed base (1) and is slidably connected. The movable sleeve (2) moves along the Z direction. The movable plate (4) is slidably connected to the end of the movable column (3). The movable column (3) moves along the Y direction. The movable plate (4) moves along the X direction. The bottom of the movable column (3) is provided with a fixed plate (38), the nut seat of the first servo unit (5) is fixed on the fixed plate (38), the motor and lead screw of the first servo unit (5) are provided on the movable plate (4), and the lead screw of the first servo unit (5) is located below the movable plate (4). The ball head locking mechanism (8) is provided on the movable plate (4). The second servo unit (6) is a dual servo drive structure. The two lead screws of the second servo unit (6) are arranged on each side of the moving sleeve (2), and the two lead screws of the second servo unit (6) are symmetrically arranged about the central axis of the moving sleeve (2). The two nut seats of the second servo unit (6) are arranged on the moving sleeve (2). The movable seat has a receiving slot (31), the lead screw of the third servo unit (7) is set in the movable sleeve (2), and the nut seat of the third servo unit (7) is located in the receiving slot (31) and connected to the movable sleeve (2).

3. The coordinate measuring machine for attitude adjustment and installation of aircraft components according to claim 2, characterized in that: The fixed base (1) is provided with a first counterweight cylinder (11), the piston rod of the first counterweight cylinder (11) is connected to the bottom of the movable sleeve (2), the movable column (3) is slidably connected to the movable sleeve (2) through a hard rail and a slide rail, and the movable sleeve (2) is slidably connected to the base through a hard rail and a slide rail.

4. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 2, characterized in that: The fixed base (1), the movable sleeve (2) and the movable plate (4) are all provided with a first grating ruler (91). The first grating ruler (91) on the fixed base (1) is used to measure the displacement of the movable sleeve (2), the first grating ruler (91) on the movable sleeve (2) is used to measure the displacement of the movable sleeve (2), and the first grating ruler (91) on the movable plate (4) is used to measure the displacement of the movable plate (4). The end of the movable column (3) is provided with a first limit switch (32), and the movable plate (4) is provided with a first sensing block (41). When the first limit switch (32) is opposite to the first sensing block (41), the first servo unit (5) stops operating. The movable sleeve (2) is provided with a second limit switch (21), and the movable column (3) is provided with a second sensing block (33). When the second limit switch (21) is opposite to the second sensing block (33), the third servo unit (7) stops operating. The movable sleeve (2) is provided with a third limit switch (22), and the fixed base (1) is provided with a third sensing block (12). When the third limit switch (22) is opposite to the third sensing block (12), the second servo unit (6) stops operating.

5. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 1, characterized in that: The fixed base (1) is a plate structure. The movable plate (4) is slidably connected to the top of the fixed base (1). The movable plate (4) moves along the X direction. The movable sleeve (2) is slidably connected to the movable plate (4). The movable sleeve (2) moves along the Y direction. The movable column (3) moves along the Z direction. The ball head locking mechanism (8) is located on the top of the movable column (3). The lead screw and motor of the third servo unit (7) are mounted on the movable sleeve (2). A movable opening (23) is provided on one side of the movable sleeve (2). The nut seat of the third servo unit (7) is mounted on the movable column (3) and extends out of the movable opening (23).

6. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 5, characterized in that: The movable column (3) is provided with a second counterweight cylinder (34), which is vertically arranged. The movable plate (4) is provided with a support rail (46), and the support rail (46) is provided with a slider (35). The piston rod of the second counterweight cylinder (34) is connected to the slider (35).

7. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 5, characterized in that: The fixed base (1), the movable plate (4) and the movable sleeve (2) are all provided with a second grating ruler (92). The second grating ruler (92) of the fixed base (1) is used to measure the displacement of the movable plate (4), the second grating ruler (92) of the movable plate (4) is used to measure the displacement of the movable sleeve (2), and the second grating ruler (92) of the movable sleeve (2) is used to measure the displacement of the movable column (3). The movable plate (4) is provided with a fourth limit switch (47), and the fixed base (1) is provided with a fourth sensing block (48). When the fourth limit switch (47) is opposite to the fourth sensing block (48), the first servo unit (5) stops operating. The moving plate (4) is provided with a fifth sensing block (49), and the moving sleeve (2) is provided with a fifth limit switch (24). When the fifth limit switch (24) is opposite to the fifth sensing block (49), the second servo unit (6) stops operating. The movable sleeve (2) is provided with a sixth limit switch (25), and the movable column (3) is provided with a sixth sensing block (36). When the sixth sensing block (36) is opposite to the sixth limit switch (25), the third servo unit (7) stops operating.

8. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 1, characterized in that: The fixed base (1) is a rectangular plate structure. There are two movable plates (4), two movable sleeves (2) and two movable columns (3). The two movable plates (4) are slidably connected to the top surface of the fixed base (1). The movable plates (4) move along the X direction. Each movable plate (4) is slidably connected to a movable sleeve (2) at its top. The movable sleeves (2) move along the Y direction.

9. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 8, characterized in that: The movable plate (4) is provided with a seventh limit switch (410), and the fixed base (1) is provided with a seventh sensing block (13). When the seventh limit switch (410) is opposite to the seventh sensing block (13), the first servo unit (5) stops operating. The moving plate (4) is provided with an eighth sensing block (411), and the moving sleeve (2) is provided with an eighth limit switch (27). When the eighth sensing block (411) is opposite to the eighth limit switch (27), the second servo unit (6) stops operating. The movable sleeve (2) has a movable opening (26), the nut seat of the third servo unit (7) is set on the movable column (3) and extends out of the movable opening (26), the movable sleeve (2) is provided with a ninth sensing block (28), the nut seat of the third servo unit (7) is provided with a ninth limit switch (37), when the ninth limit switch (37) is opposite to the ninth sensing block (28), the third servo unit (7) stops operating; A third grating ruler (93) is provided on the fixed base (1), the movable plate (4) and the movable sleeve (2). The third grating ruler (93) of the fixed base (1) is used to measure the displacement of the movable plate (4), the third grating ruler (93) of the movable plate (4) is used to measure the displacement of the movable sleeve (2), and the third grating ruler (93) of the movable sleeve (2) is used to measure the displacement of the movable column (3).

10. The three-coordinate positioner for attitude adjustment and installation of aircraft components according to claim 9, characterized in that: The seventh limit switch (410) is installed at the bottom of the movable plate (4). The movable plate (4) is provided with a first movable cover (412) and a second movable cover (413). The third grating ruler (93) of the fixed base (1) extends out of the first movable cover (412), and the second movable cover (413) covers the lead screw of the first servo unit (5). The third grating ruler (93), the eighth limit switch (27), and the eighth sensing block (411) of the moving plate (4) are located near the lead screw of the second servo unit (6). A third moving cover (29) is provided on the moving sleeve (2), which covers the third grating ruler (93), the eighth limit switch (27), the eighth sensing block (411), and the lead screw of the second servo unit (6) of the moving plate (4). The third grating ruler (93), the ninth limit switch (37), and the ninth sensing block (28) of the movable sleeve (2) are located near the lead screw of the third servo unit (7). A fixing cover (210) is provided on the movable sleeve (2), which covers the third grating ruler (93), the ninth limit switch (37), the ninth sensing block (28), and the lead screw of the third servo unit (7) of the movable sleeve (2).

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