AGV supporting and transferring system for aircraft manufacturing

Abstract

The utility model discloses an AGV supporting and transferring system for aircraft manufacturing. The AGV supporting and transferring system comprises a first supporting unit, a second supporting unit and a third supporting unit which are sequentially arranged from front to back. The first supporting unit comprises a front belly left AGV and a front belly right AGV which are arranged in a left-right spliced mode, the second supporting unit comprises a middle wing AGV, the two sides of the front end of the middle wing AGV are connected with a belly rear left AGV and a belly rear right AGV in a spliced mode respectively, and the left side and the right side of the middle wing AGV are connected with a left wing AGV and a right wing AGV in a spliced mode respectively; and the third supporting unit comprises a tail AGV (Automatic Guided Vehicle). By arranging the multi-AGV system with the specific structural layout, the aircraft parts can be jacked and assembled on the aircraft assembly line and then transferred after being assembled, and the multi-AGV system has the advantages of being flexible in operation, high in efficiency and safety and convenient to popularize and use in the industry.

Description

Technical Field

[0001] The utility model relates to the technical field of multiple AGV use, in particular to an AGV support and transfer system for aircraft manufacturing. Background Art

[0002] In current aircraft assembly processes, material transfer between workstations typically relies on a rigid system consisting of customized tracks and specialized hoists. This configuration has significant limitations: On the one hand, the fixed path limits flexibility, and on the other hand, the risk of mechanical interference leads to a high accident rate. Utility Model Content

[0003] In view of the technical problems pointed out in the above background technology, the purpose of the present utility model is to provide an AGV support and transfer system for aircraft manufacturing.

[0004] In order to achieve the purpose of this utility model, the technical solution provided by this utility model is as follows:

[0005] An AGV support and transfer system for aircraft manufacturing includes a first support unit, a second support unit and a third support unit arranged in sequence from front to back; the first support unit includes a front belly left AGV and a front belly right AGV spliced ​​together on the left and right sides, the second support unit includes a middle wing AGV, the front ends of the middle wing AGV are spliced ​​and connected to the rear left AGV and the rear right AGV of the belly, and the left and right sides are spliced ​​and connected to the left wing AGV and the right wing AGV, respectively; the third support unit includes a tail AGV; wherein, the upper end of the front belly left AGV, the upper end of the rear left AGV of the belly, the upper end of the left wing AGV, the left and right sides of the upper rear end of the middle wing AGV, the left and right sides of the upper end of the tail AGV, the upper end of the right wing AGV, the upper end of the rear right AGV of the belly, and the upper end of the front belly right AGV are each provided with a support frame for supporting aircraft components.

[0006] The front belly left AGV, the front belly right AGV, and the middle wing AGV are respectively connected to the belly rear left AGV, the belly rear right AGV, the left wing AGV, and the right wing AGV through one or more splicing units.

[0007] Wherein, the splicing unit includes a first splicing component and a second splicing component which are used in conjunction with each other and are respectively connected to the two connecting parts;

[0008] The first splicing assembly includes a first inverted L-shaped connecting block, on which are provided two sets of three-jaw chucks and a chuck opening and closing driving mechanism for controlling the opening and closing of the three-jaw chucks;

[0009] The second splicing assembly includes two pin components, each pin component includes a second inverted L-shaped connecting block, and the second inverted L-shaped connecting block is provided with a pin and a pin extension drive mechanism for controlling the extension and retraction of the pin;

[0010] When the two connecting parts are connected, the pin shaft extension drive mechanism controls the pin shaft to extend, and the pin shaft enters the three-jaw chuck at the corresponding position, and the chuck opening and closing drive mechanism controls the three-jaw chuck to clamp the pin shaft.

[0011] Among them, the chuck opening and closing drive mechanism includes a worm drive motor arranged on the first inverted L-shaped connecting block. The worm drive motor drives the worm to rotate, and the two ends of the worm respectively drive a turbine to rotate. Each turbine is connected to a three-jaw chuck, and the opening and closing of the three-jaw chuck is controlled by the rotation of the turbine.

[0012] The cam is secured to the side of the U-shaped frame by a spring which is secured to the top of the U-shaped frame by a spring which is secured to the bottom of the U-shaped frame by a spring which is secured to the top of the U-shaped frame by a spring.

[0013] The support frame includes an XY movable platform seat and a longitudinal bracket installed on the XY movable platform seat, and a positioning ball head capable of adjusting the height is installed on the longitudinal bracket.

[0014] Among them, the layout of all the support frames forms a bilaterally symmetrical structure.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] This application sets up a multi-AGV system with a specific structural layout, which can lift and assemble aircraft components on the aircraft assembly line, and then transport them after assembly. It has flexible operation, high efficiency and safety, and is easy to promote and use in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A first schematic diagram of the structure of an AGV support and transfer system for aircraft manufacturing provided in an embodiment of the present application;

[0018] In the figure, there is the front left AGV1, the rear left AGV2, the left wing AGV3, the middle wing AGV4, the tail AGV6, the right wing AGV7, the rear right AGV8, and the front right AGV9.

[0019] Figure 2 A second schematic diagram of the structure of the AGV support and transfer system for aircraft manufacturing provided in an embodiment of the present application;

[0020] Figure 3 This is a first schematic diagram of the splicing structure of the front belly left AGV and the front belly right AGV in an embodiment of the present application;

[0021] In the figure, the XY movable platform base 10, the longitudinal bracket 11, the positioning ball head 12, and the splicing unit 13;

[0022] Figure 4 This is a second schematic diagram of the splicing structure of the front belly left AGV and the front belly right AGV in an embodiment of the present application;

[0023] Figure 5 This is a first schematic diagram of the structure of the first splicing assembly in an embodiment of the present application;

[0024] In the figure, the turbine 14, the worm drive motor 15, the worm 16, and the first inverted L-shaped connecting block 17;

[0025] Figure 6 This is a second schematic diagram of the structure of the first splicing assembly in an embodiment of the present application;

[0026] Figure 7 This is a third schematic diagram of the structure of the first splicing assembly in an embodiment of the present application;

[0027] In the figure, the three-jaw chuck 18;

[0028] Figure 8 This is a first schematic diagram of the structure of the second splicing assembly in an embodiment of the present application;

[0029] In the figure, the pin drive motor 19, the second inverted L-shaped connecting block 20, and the pin 21;

[0030] Figure 9 This is a second schematic diagram of the structure of the second splicing assembly in an embodiment of the present application;

[0031] In the figure, guide rod 22, spring 23, U-shaped frame 24, Z-shaped frame 25;

[0032] Figure 10 This is a third schematic diagram of the structure of the second splicing assembly in an embodiment of the present application;

[0033] In the figure, pressure roller 26, turntable 27;

[0034] Figure 11This is a structural diagram of the front belly left AGV in an embodiment of the present application;

[0035] Figure 12 This is a schematic structural diagram of the front belly right AGV in an embodiment of the present application;

[0036] Figure 13 This is a structural diagram of the right-wing AGV in the embodiment of this application;

[0037] Figure 14 This is a structural diagram of the left-wing AGV in the embodiment of this application;

[0038] Figure 15 This is a first schematic diagram of the structure of the middle wing AGV in an embodiment of the present application;

[0039] Figure 16 This is a second schematic diagram of the structure of the middle wing AGV in an embodiment of the present application;

[0040] Figure 17 This is a schematic diagram of the structure of the tail AGV in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figures 1-17 As shown, this embodiment provides an AGV support and transfer system for aircraft manufacturing, including a first support unit, a second support unit and a third support unit arranged in sequence from front to back; the first support unit includes the front belly left AGV1 and the front belly right AGV9 spliced ​​together on the left and right sides, the second support unit includes the middle wing AGV4, the front ends of the middle wing AGV4 are spliced ​​and connected with the rear belly left AGV2 and the rear belly right AGV8 respectively, and the left and right sides are spliced ​​and connected with the left wing AGV3 and the right wing AGV7 respectively; the third support unit includes the tail AGV6; wherein, the upper end of the front belly left AGV1, the upper end of the rear belly left AGV2, the upper end of the left wing AGV3, and the upper left and right sides of the rear end of the middle wing AGV4, the left and right sides of the upper end of the tail AGV6, the upper end of the right wing AGV7, the upper end of the rear belly right AGV8, and the upper end of the front belly right AGV9 are respectively provided with a support frame for supporting aircraft components.

[0043] This application sets up a multi-AGV system with a specific structural layout, which can lift and assemble aircraft parts on the aircraft assembly line, and then transport them after assembly, which has flexible operation, high efficiency and safety;

[0044] When AGVs are connected, they can be automatically docked using a laser range sensor assembly. The two docking AGVs are each equipped with a laser range sensor and a reflector plate that works in conjunction with the laser range sensor. The docking method uses existing technology. The laser range sensors are typically arranged in a horizontal arrangement of three, and the corresponding reflectors are also arranged in a horizontal arrangement of three. The reflectors on both sides are flat, while the center reflector is inclined at a 45° angle. The laser range sensor and the flat plate are used to adjust the distance between the two docking AGVs, and the laser range sensor and the inclined reflector plate are used to adjust the left-right alignment of the two docking AGVs.

[0045] In a preferred embodiment, the front belly left AGV1 and the front belly right AGV9, and the middle wing AGV4 are respectively connected to the rear belly left AGV2, the rear belly right AGV8, the left wing AGV3, and the right wing AGV7 through one or more splicing units 13.

[0046] Specifically, the splicing unit 13 includes a first splicing component and a second splicing component that are used in conjunction with each other and are respectively connected to the two connecting parts;

[0047] The first splicing assembly includes a first inverted L-shaped connecting block 17, on which are provided two sets of three-jaw chucks 18 and a chuck opening and closing driving mechanism for controlling the opening and closing of the three-jaw chucks 18;

[0048] The second splicing assembly includes two pin components, each pin component includes a second inverted L-shaped connecting block 20, and the second inverted L-shaped connecting block 20 is provided with a pin 21 and a pin extension drive mechanism for controlling the extension and retraction of the pin 21;

[0049] When the two connecting parts are connected, the pin shaft extension drive mechanism controls the pin shaft 21 to extend, and the pin shaft 21 enters the three-jaw chuck 18 at the corresponding position, and the chuck opening and closing drive mechanism controls the three-jaw chuck 18 to clamp the pin shaft 21.

[0050] The front-belly left AGV 1 and the front-belly right AGV 9 are connected by a splicing unit. The front-belly left AGV 1 is equipped with a second splicing assembly, while the front-belly right AGV 9 is equipped with a first splicing assembly. The rear-belly left AGV 2 and the rear-belly right AGV 8 each have a first splicing assembly, which works in conjunction with the second splicing assembly on the middle wing AGV 4. The left-wing AGV 3 and the right-wing AGV 7 each have two first splicing assemblies, which work in conjunction with a corresponding number of second splicing assemblies on the middle wing AGV 4.

[0051] In a preferred embodiment, the chuck opening and closing drive mechanism includes a worm drive motor 15 arranged on the first inverted L-shaped connecting block 17, and the worm drive motor 15 drives the worm 16 to rotate. The two ends of the worm 16 respectively drive a turbine 14 to rotate, and each turbine 14 is connected to a three-jaw chuck 18, and the opening and closing of the three-jaw chuck 18 is controlled by the rotation of the turbine 14.

[0052] It should be noted that the three-jaw chuck 18 is a three-jaw self-centering chuck, which can be a product of model SC-160 and is purchased from outside. Its specific structure and operating principle all adopt well-known technologies and will not be described in detail here.

[0053] In a preferred embodiment, the pin shaft telescopic drive mechanism includes a pin shaft drive motor 19 arranged on the outside of the side end block of the second inverted L-shaped connecting block 20, and the output shaft of the pin shaft drive motor 19 is connected to the middle part of the turntable 27 located on the inside of the side end block of the second inverted L-shaped connecting block 20. A pressure roller 26 is provided at the eccentric position on the other side of the turntable 27. The lower end face of the upper end block of the second inverted L-shaped connecting block 20 is connected to a U-shaped frame 24, and two longitudinal guide rods 22 are provided between the lower end face of the upper end block of the second inverted L-shaped connecting block 20 and the bottom end block of the U-shaped frame 24. The two guide rods 22 The guide rod 22 between the Z-shaped frame 25 and the bottom block of the U-shaped frame 24 is sleeved with a spring 23. A pin 21 is longitudinally arranged on the upper horizontal edge of the Z-shaped frame 25, and the upper end of the pin 21 passes through the upper end block of the second inverted L-shaped connecting block 20, and the two are slidably connected by a linear bearing. The pressure roller 26 presses on the lower horizontal edge of the Z-shaped frame 25. When the pin retracts, the rotation of the turntable can drive the pressure roller to rotate, thereby pressing the Z-shaped frame downward, thereby driving the pin to retract. When the turntable rotates in the opposite direction, the pin is extended by the elastic force of the spring. When splicing, the pin retracts first. After the positions of the two splicing parts are accurately aligned, the pin is extended and inserted into the three-jaw chuck at the corresponding position, thereby locking the pin.

[0054] In a preferred embodiment, the support frame includes an XY movable platform base 10 and a longitudinal bracket 11 mounted on the XY movable platform base 10 , and a height-adjustable positioning ball head 12 is mounted on the longitudinal bracket 11 .

[0055] It should be noted that the XY movable platform seat 10 utilizes existing technology, thereby enabling the positioning ball head to be adjusted in the XY directions. The structure of the XY movable platform seat can be configured as follows: it includes an upper mounting block, a middle mounting block, and a lower mounting block. The lower mounting block is provided with an X- or Y-direction guide rail. The lower end of the middle mounting block is slidably connected to the X- or Y-direction guide rail via a slider. The middle mounting block is correspondingly provided with a Y- or X-direction guide rail. The lower end of the upper mounting block is slidably connected to the Y- or X-direction guide rail via a slider. The slider and guide rail structure achieve a sliding fit connection, thereby enabling XY movement of components mounted on the upper mounting block. In addition, the movement of the middle and lower mounting blocks can be achieved through a motor-driven screw-nut mechanism known in the prior art.

[0056] It should be noted that the longitudinal bracket can adopt a lifting screw lifting mechanism in the prior art, which is mounted on the upper mounting block and includes a screw hoist and a positioning ball head mounted on the screw hoist. The positioning ball head is driven up and down by the screw hoist.

[0057] In a preferred embodiment, the overall layout of all support frames forms a bilaterally symmetrical structure, thereby providing more stable support for aircraft components.

[0058] Finally, it should be noted that the above embodiments are merely examples and illustrations of the present invention and are not intended to limit the present invention to the described embodiments. Furthermore, those skilled in the art will appreciate that the present invention is not limited to the above embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention.

Claims

1. An AGV support and transfer system for aircraft manufacturing, characterized in that: The invention comprises a first support unit, a second support unit and a third support unit which are arranged in sequence from front to back; the first support unit comprises a front belly left AGV (1) and a front belly right AGV (9) which are spliced ​​and arranged on the left and right sides; the second support unit comprises an intermediate wing AGV (4); the front ends of the intermediate wing AGV (4) are spliced ​​and connected to the belly rear left AGV (2) and the belly rear right AGV (8) respectively, and the left and right sides are spliced ​​and connected to the left wing AGV (3) and the right wing AGV (7) respectively; the third support unit comprises a tail AGV (6); wherein, a support frame for supporting aircraft components is respectively provided at the upper end of the front belly left AGV (1), the upper end of the belly rear left AGV (2), the upper end of the left wing AGV (3), the upper left and right sides of the rear end of the intermediate wing AGV (4), the left and right sides of the upper end of the tail AGV (6), the upper end of the right wing AGV (7), the upper end of the belly rear right AGV (8), and the upper end of the front belly right AGV (9).

2. The AGV support and transfer system for aircraft manufacturing according to claim 1, characterized in that: The front belly left AGV (1), the front belly right AGV (9), and the middle wing AGV (4) are respectively connected to the belly rear left AGV (2), the belly rear right AGV (8), the left wing AGV (3), and the right wing AGV (7) via one or more splicing units (13).

3. The AGV support and transfer system for aircraft manufacturing according to claim 2, characterized in that: The splicing unit (13) comprises a first splicing component and a second splicing component which are used in conjunction with each other and are respectively connected to the two connecting parts; The first splicing assembly comprises a first inverted L-shaped connecting block (17), and the first inverted L-shaped connecting block (17) is provided with two sets of three-jaw chucks (18) and a chuck opening and closing driving mechanism for controlling the opening and closing of the three-jaw chucks (18); The second splicing assembly comprises two pin shaft components, each pin shaft component comprises a second inverted L-shaped connecting block (20), and the second inverted L-shaped connecting block (20) is provided with a pin shaft (21) and a pin shaft telescopic driving mechanism for controlling the telescopic movement of the pin shaft (21); When the two connecting parts are connected, the pin shaft extension drive mechanism controls the pin shaft (21) to extend, and the pin shaft (21) enters the three-jaw chuck (18) at the corresponding position, and the chuck opening and closing drive mechanism controls the three-jaw chuck (18) to clamp the pin shaft (21).

4. The AGV support and transfer system for aircraft manufacturing according to claim 3, characterized in that: The chuck opening and closing drive mechanism includes a worm drive motor (15) arranged on the first inverted L-shaped connecting block (17), wherein the worm drive motor (15) drives the worm (16) to rotate, and the two ends of the worm (16) respectively drive a turbine (14) to rotate, and each turbine (14) is connected to a three-jaw chuck (18), and the opening and closing of the three-jaw chuck (18) is controlled by the rotation of the turbine (14).

5. The AGV support and transfer system for aircraft manufacturing according to claim 3, characterized in that: The pin shaft telescopic drive mechanism comprises a pin shaft drive motor (19) arranged on the outside of the side end block of the second inverted L-shaped connecting block (20), the output shaft of the pin shaft drive motor (19) is connected to the middle part of the turntable (27) located on the inside of the side end block of the second inverted L-shaped connecting block (20), a pressure roller (26) is provided at an eccentric position on the other side of the turntable (27), the lower end surface of the upper end block of the second inverted L-shaped connecting block (20) is connected to the U-shaped frame (24), and the lower end surface of the upper end block of the second inverted L-shaped connecting block (20) is connected to the U-shaped frame Two longitudinal guide rods (22) are provided between the bottom end blocks (24), the two guide rods (22) pass through the upper end horizontal edge of the Z-shaped frame (25) and are slidably connected, and a spring (23) is sleeved on the guide rod (22) between the Z-shaped frame (25) and the bottom end block of the U-shaped frame (24), a pin shaft (21) is longitudinally provided on the upper end horizontal edge of the Z-shaped frame (25), and the upper end of the pin shaft (21) passes through the upper end block of the second inverted L-shaped connecting block (20) and the two are slidably connected, and the pressing roller (26) presses on the lower end horizontal edge of the Z-shaped frame (25).

6. The AGV support and transfer system for aircraft manufacturing according to claim 1, characterized in that: The support frame comprises an XY-movable platform seat (10) and a longitudinal bracket (11) mounted on the XY-movable platform seat (10), wherein a height-adjustable positioning ball head (12) is mounted on the longitudinal bracket (11).

7. The AGV support and transfer system for aircraft manufacturing according to claim 1, characterized in that: The layout of all the support frames forms a bilaterally symmetrical structure.

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