Cross-shaped combined AGV (Automatic Guided Vehicle) for aircraft assembly production line

Abstract

The utility model discloses a cross-shaped combined AGV (Automatic Guided Vehicle) for an aircraft assembly line, which comprises a front moving support unit, a middle moving support unit and a rear moving support unit which are arranged in a cross shape, the front moving supporting unit is arranged in front of the middle moving supporting unit, the rear moving supporting unit is arranged behind the middle moving supporting unit, and the front moving supporting unit and the rear moving supporting unit are both arranged on the central axis of the middle moving supporting unit. Each of the front moving supporting unit, the middle moving supporting unit and the rear moving supporting unit comprises an AGV subunit and a supporting and positioning subunit which is arranged at the upper end of the AGV subunit and used for supporting an aircraft component from the lower portion. Through mutual combination of the front moving supporting unit, the middle moving supporting unit and the rear moving supporting unit, aircraft parts can be jacked, so that the aircraft parts can move among a plurality of stations, assembly of an aircraft is achieved, moving is convenient, and efficiency and safety are high.

Description

Technical Field

[0001] The utility model relates to the technical field of combined AGV application, in particular to a cross-shaped combined AGV used in an aircraft assembly production line. Background Art

[0002] Traditional aircraft assembly typically uses dedicated jigs and fixed tooling support components, which have poor flexibility. In addition, transportation between workstations usually relies on dedicated transport vehicles or lifting equipment and rail systems, which are inefficient and prone to safety accidents. Utility Model Content

[0003] In view of the technical problems pointed out in the above background technology, the purpose of the present invention is to provide a cross-type combined AGV for an aircraft assembly production line.

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

[0005] A cross-shaped combined AGV for an aircraft assembly production line includes a front moving support unit, an intermediate moving support unit, and a rear moving support unit arranged in a cross shape, wherein the front moving support unit is arranged in front of the intermediate moving support unit, and the rear moving support unit is arranged behind the intermediate moving support unit, and both are arranged on the central axis of the intermediate moving support unit; the front moving support unit, the intermediate moving support unit, and the rear moving support unit each include an AGV subunit and a support positioning subunit arranged at the upper end of the AGV subunit for supporting aircraft components from below.

[0006] Furthermore, the AGV subunit of the front mobile support unit is a front single AGV.

[0007] Furthermore, an aircraft front wheel clamping mechanism is provided on the front single AGV in the middle of one side facing the middle mobile support unit, and a first plane reflector, a first slope reflector and a second plane reflector are provided on both sides of the aircraft front wheel clamping mechanism.

[0008] Furthermore, the AGV subunit of the intermediate mobile support unit includes a left single AGV and a right single AGV spliced ​​together on the left and right sides, and the left single AGV and the right single AGV are connected by a splicing assembly.

[0009] Furthermore, the splicing assembly includes a chuck subassembly and a lock column subassembly used in conjunction with each other; the chuck subassembly is arranged on the left single AGV or the right single AGV, and correspondingly, the lock column subassembly is arranged on the right single AGV or the left single AGV;

[0010] The chuck subassembly includes a first connecting frame and a three-jaw chuck assembly mounted on the first connecting frame, a first drive motor, a worm, and a turbine; the first connecting frame is connected to the left single-body AGV or the right single-body AGV, the first drive motor drives the worm to rotate, and the two ends of the worm respectively drive a turbine to rotate, and each of the turbines is connected to a three-jaw chuck assembly to drive the three-jaw chuck assembly to open and close;

[0011] Each three-jaw chuck assembly is used in conjunction with a lock column subassembly, and the lock column assembly includes a second connecting frame and a second drive motor, a lock column, a spring, a U-shaped frame, a Z-shaped frame, a guide rod, a linear bearing, a rotating roller, and a turntable installed on the second connecting frame; the second connecting frame is an inverted L-shaped structure including an upper block and a side block, the lower end of the upper block is connected to the U-shaped frame, and the upper block is slidably connected to the lock column through a linear bearing, and two guide rods are provided between the lower end of the upper block and the bottom end block of the U-shaped frame, and the two guide rods pass through the Z-shaped frame and are slidably connected, and the lower end of the lock column is connected to the Z-shaped frame The upper ends are connected, and a spring is respectively sleeved on the two guide rods between the Z-shaped frame and the bottom end block of the U-shaped frame. A second driving motor is provided on the outside of the side block, and the output shaft of the second driving motor is connected to the turntable located on the inner side of the side block. An eccentric rotating roller is provided on the turntable, and the rotating roller is connected to one side of the Z-shaped frame. The second driving motor drives the turntable to rotate, thereby driving the rotating roller to rotate, so that the Z-shaped frame can be pressed down, and then the lock column is driven to retract. When the second driving motor rotates in the opposite direction, the elastic force of the spring is used to extend the Z-shaped frame and the lock column.

[0012] Furthermore, on the left single AGV, a first laser rangefinder, a first laser rangefinder, and a first laser rangefinder are respectively provided on the side of the forward moving support unit, and a third plane reflector, a second slope reflector, and a fourth plane reflector are respectively provided on the side of the rearward moving support unit.

[0013] Furthermore, the AGV subunit of the rear mobile support unit is a rear single-body AGV.

[0014] Furthermore, the rear single AGV is provided with a first laser rangefinder, a second laser rangefinder and a first laser rangefinder respectively used in conjunction with the third plane reflector, the second oblique reflector and the fourth plane reflector.

[0015] Furthermore, the supporting and positioning subunit includes an XY movable platform and a lifting screw lifting mechanism, the lifting screw lifting mechanism is installed on the XY movable platform, the XY movable platform is installed on the AGV subunit, the lifting screw lifting mechanism includes a lifting screw lifting mechanism body and a positioning ball head, and the positioning ball head is installed on the lifting screw lifting mechanism body.

[0016] Furthermore, a leveling screw lifting mechanism body is installed on each of the four corners of the XY movable platform, and is connected to the AGV subunit through the leveling screw lifting mechanism body.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] The present application provides a cross-shaped combined AGV for an aircraft assembly production line. Through the mutual combination of a front moving support unit, an intermediate moving support unit and a rear moving support unit, aircraft components can be lifted, thereby being able to be moved between multiple workstations, thereby realizing the assembly of aircraft. It is easy to move, efficient and safe, and is easy to promote and use in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of the combined AGV system provided in an embodiment of the present application;

[0020] In the figure, the front monomer is AGV1, the left monomer is AGV2, the rear monomer is AGV4, and the right monomer is AGV5;

[0021] Figure 2 This is a schematic structural diagram of the front monomer AGV in an embodiment of the present application;

[0022] In the figure, a first plane reflector 11, an aircraft front wheel holding mechanism 12, a first inclined reflector 13, and a second plane reflector 14;

[0023] Figure 3 This is a first schematic diagram of the structure of the left single AGV in an embodiment of the present application;

[0024] In the figure, a first laser rangefinder 21, a second laser rangefinder 22, and a third laser rangefinder 23;

[0025] Figure 4 This is a second schematic diagram of the structure of the left single AGV in an embodiment of the present application;

[0026] In the figure, the driving wheel set 24;

[0027] Figure 5 This is a first schematic diagram of the structure of the right single AGV in an embodiment of the present application;

[0028] Figure 6 This is a second schematic diagram of the structure of the right single AGV in the embodiment of the present application;

[0029] Figure 7 This is a schematic diagram of the splicing structure of the left single AGV and the right single AGV in the embodiment of the present application;

[0030] In the figure, a third plane reflector 25, a second inclined reflector 26, a fourth plane reflector 27, and an organ dust cover 28;

[0031] Figure 8 This is a schematic structural diagram of the rear monomer AGV in an embodiment of the present application;

[0032] In the figure, a fourth laser rangefinder 41, a fifth laser rangefinder 42, and a sixth laser rangefinder 43;

[0033] Figure 9 This is a partial structural diagram of the supporting positioning subunit in an embodiment of the present application;

[0034] In the figure, the upper seat plate 31, the middle seat plate 32, and the lower seat plate 33;

[0035] Figure 10 This is a structural diagram of the lifting screw lifting mechanism supporting the positioning sub-unit in an embodiment of the present application;

[0036] In the figure, the lifting screw elevates the mechanism body 34 and the positioning ball head 35;

[0037] Figure 11 This is a structural diagram of a leveling screw lifting mechanism supporting a positioning sub-unit in an embodiment of the present application;

[0038] In the figure, the leveling screw lifting mechanism body 36;

[0039] Figure 12 This is a structural diagram of the splicing assembly in an embodiment of the present application;

[0040] In the figure, a first connecting frame 61, a three-jaw chuck assembly 62, a first drive motor 63, a worm 64, a second drive motor 65, a second connecting frame 66, a locking cylinder 67, and a turbine 68;

[0041] Figure 13 This is a structural diagram of the chuck plate assembly in an embodiment of the present application;

[0042] Figure 14 This is a structural diagram of the lock column subassembly in an embodiment of the present application;

[0043] In the figure, spring 69, U-shaped frame 70, Z-shaped frame 71, guide rod 72;

[0044] Figure 15This is a partial structural diagram of the lock cylinder assembly in an embodiment of the present application;

[0045] In the figure, there are linear bearings 73, rotating rollers 74, and a turntable 75. DETAILED DESCRIPTION

[0046] 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.

[0047] like Figures 1-15 As shown, this embodiment provides a cross-shaped combined AGV for an aircraft assembly production line, comprising a front moving support unit, an intermediate moving support unit and a rear moving support unit arranged in a cross shape, wherein the front moving support unit is arranged in front of the intermediate moving support unit, and the rear moving support unit is arranged behind the intermediate moving support unit, and both are arranged on the central axis of the intermediate moving support unit; the front moving support unit, the intermediate moving support unit and the rear moving support unit all include an AGV subunit and a support positioning subunit arranged at the upper end of the AGV subunit for supporting aircraft components from the bottom.

[0048] When in use, the front movable support unit, the middle movable support unit and the rear movable support unit are combined to lift the aircraft components, so that they can be moved between multiple workstations to realize the assembly of the aircraft. The movement is convenient, the efficiency and safety are high, and it is easy to promote and use in the industry.

[0049] It should be noted that each of the AGV sub-units includes a plurality of driving wheel sets 24, so that the AGV body can move forward, backward, left, and right, and can be raised and lowered.

[0050] In a preferred embodiment, the AGV subunit of the front mobile support unit is a front monomer AGV1, which is implemented using a single AGV.

[0051] In a preferred embodiment, an aircraft front wheel clamping mechanism 12 is provided on the front monomer AGV1, in the middle of one side facing the intermediate mobile support unit, and a first plane reflector 11, a first inclined reflector 13 and a second plane reflector 14 are provided on both sides of the aircraft front wheel clamping mechanism 12.

[0052] It should be noted that the aircraft front wheel clamping mechanism 12 uses components of the prior art.

[0053] In a preferred embodiment, the AGV subunit of the intermediate mobile support unit includes a left single AGV2 and a right single AGV5 spliced ​​together on the left and right sides, and the left single AGV2 and the right single AGV5 are connected by a splicing assembly.

[0054] The present application provides a splicing assembly including a chuck sub-assembly and a lock post sub-assembly used in conjunction with each other; the chuck sub-assembly is arranged on the left single AGV2 or the right single AGV5, and correspondingly, the lock post sub-assembly is arranged on the right single AGV5 or the left single AGV2;

[0055] The chuck subassembly includes a first connecting frame 61 and a three-jaw chuck assembly 62, a first drive motor 63, a worm 64, and a turbine 68 mounted on the first connecting frame 61; the first connecting frame 61 is connected to the left single-body AGV2 or the right single-body AGV5, the first drive motor 63 drives the worm 64 to rotate, and the two ends of the worm 64 respectively drive a turbine 68 to rotate, and each turbine 68 is connected to a three-jaw chuck assembly 62 to drive the three-jaw chuck assembly 62 to open and close;

[0056] It should be noted that the three-jaw chuck assembly 62 was purchased and uses existing technology.

[0057] Each three-jaw chuck assembly 62 is used in conjunction with a lock column sub-assembly, and the lock column sub-assembly includes a second connecting frame 66 and a second drive motor 65, a lock column 67, a spring 69, a U-shaped frame 70, a z-shaped frame 71, a guide rod 72, a linear bearing 73, a rotating roller 74, and a turntable 75 installed on the second connecting frame 66; the second connecting frame 66 is an inverted L-shaped structure including an upper block and a side block, the lower end of the upper block is connected to the U-shaped frame 70, and the upper block is slidably connected to the lock column 67 through a linear bearing 73, and two guide rods 72 are provided between the lower end of the upper block and the bottom end block of the U-shaped frame 70, and the two guide rods 72 pass through the z-shaped frame 71 and are slidably connected. The upper ends of the z-shaped frame 71 are connected, and a spring 69 is respectively sleeved on the two guide rods 72 between the z-shaped frame 71 and the bottom end block of the U-shaped frame 70. A second drive motor 65 is provided on the outside of the side block, and the output shaft of the second drive motor 65 is connected to the turntable 75 located on the inner side of the side block. An eccentric rotating roller 74 is provided on the turntable, and the rotating roller 74 is connected to one side of the z-shaped frame 71. The second drive motor 65 drives the turntable to rotate, thereby driving the rotating roller 74 to rotate, so that the z-shaped frame 71 can be pressed down, and then the lock column 67 is retracted. When the second drive motor 65 rotates in the opposite direction, the elastic force of the spring 69 is used to extend the z-shaped frame 71 and the lock column 67.

[0058] When in use, the lock column 67 of the lock column subassembly is retracted first, and then the chuck subassembly and the lock column subassembly are spliced ​​together, so that the lock column 67 extends into the three-jaw chuck assembly, and then the three-jaw chuck assembly is driven to clamp the lock column 67.

[0059] In a preferred embodiment, the left single AGV2 is provided with a first laser rangefinder 21, a second laser rangefinder 22, and a third laser rangefinder 23, which are used in conjunction with the second plane reflector 14, the first inclined reflector 13, and the first plane reflector 11, respectively, on the side of the front moving support unit, and a third plane reflector 25, a second inclined reflector 26, and a fourth plane reflector 27 are provided on the side of the rear moving support unit.

[0060] It should be noted that the second plane reflector 14, the first bevel reflector 13, the first plane reflector 11 and the first laser rangefinder 21, the second laser rangefinder 22 and the third laser rangefinder 23 used in conjunction with each other can achieve docking of the front movable support unit and the intermediate movable support unit.

[0061] In a preferred embodiment, the AGV subunit of the rear mobile support unit is a rear monomer AGV 4, and a single AGV is used.

[0062] The rear single AGV 4 is provided with a sixth laser rangefinder 43 , a fifth laser rangefinder 42 and a fourth laser rangefinder 41 , which are used in conjunction with the third plane reflector 25 , the second slope reflector 26 and the fourth plane reflector 27 , respectively.

[0063] It should be noted that the rear movable support unit and the intermediate movable support unit can be docked through the third plane reflector 25, the second inclined reflector 26 and the fourth plane reflector 27 and the corresponding sixth laser rangefinder 43, the fifth laser rangefinder 42 and the fourth laser rangefinder 41.

[0064] In a preferred embodiment, the supporting and positioning subunit includes an XY movable platform and a lifting screw lifting mechanism, the lifting screw lifting mechanism is installed on the XY movable platform, the XY movable platform is installed on the AGV subunit, the lifting screw lifting mechanism includes a lifting screw lifting mechanism body 34 and a positioning ball head 35, and the positioning ball head 35 is installed on the lifting screw lifting mechanism body 34.

[0065] The XY movable platform can utilize an existing mechanism, including an upper base plate 31, a middle base plate 32, and a lower base plate 33. The lower base plate 33 is provided with an X- or Y-direction guide rail, and the lower end of the middle base plate 32 is slidably connected to the X- or Y-direction guide rail via a sliding block. The middle base plate 32 is also provided with a Y- or X-direction guide rail, and the lower end of the upper base plate 31 is slidably connected to the Y- or X-direction guide rail via a sliding block. Furthermore, the movement of the middle and lower base plates 32, 33 can be achieved by a motor-driven screw-nut mechanism.

[0066] It should be noted that the lifting screw lifting mechanism body 34 adopts the structure of the existing technology, so that the positioning ball head 35 can be raised and lowered.

[0067] In a preferred embodiment, a leveling screw lifting mechanism body 36 is installed on each of the four corners of the XY moving platform, which is connected to the AGV subunit through the leveling screw lifting mechanism body 36. The horizontality of the XY moving platform can be adjusted through the leveling screw lifting mechanism body 36.

[0068] It should be noted that the leveling screw lifting mechanism body 36 adopts the structure of the existing technology, and its specific connection method with the XY moving platform adopts the existing technology, which will not be described in detail here.

[0069] 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. A cross-type combined AGV for an aircraft assembly line, characterized in that: It includes a front mobile support unit, an intermediate mobile support unit and a rear mobile support unit arranged in a cross shape, the front mobile support unit is arranged in front of the intermediate mobile support unit, and the rear mobile support unit is arranged behind the intermediate mobile support unit, and both are arranged on the central axis of the intermediate mobile support unit; the front mobile support unit, the intermediate mobile support unit and the rear mobile support unit all include an AGV subunit and a support positioning subunit arranged at the upper end of the AGV subunit for supporting aircraft components from the bottom.

2. The cross-type combined AGV for an aircraft assembly line according to claim 1, characterized in that: The AGV subunit of the front mobile support unit is a front single AGV (1).

3. The cross-type combined AGV for an aircraft assembly line according to claim 2, characterized in that: An aircraft front wheel clamping mechanism (12) is provided on the front single AGV (1) at the middle of one side facing the middle moving support unit, and a first plane reflector (11), a first inclined reflector (13), and a second plane reflector (14) are provided on both sides of the aircraft front wheel clamping mechanism (12).

4. The cross-type combined AGV for an aircraft assembly line according to claim 1, characterized in that: The AGV subunit of the intermediate mobile support unit comprises a left single AGV (2) and a right single AGV (5) spliced ​​together on the left and right sides, wherein the left single AGV (2) and the right single AGV (5) are connected via a splicing assembly.

5. The cross-type combined AGV for an aircraft assembly line according to claim 4, characterized in that: The splicing assembly comprises a chuck subassembly and a lock column subassembly used in conjunction with each other; the chuck subassembly is arranged on the left single AGV (2) or the right single AGV (5), and correspondingly, the lock column subassembly is arranged on the right single AGV (5) or the left single AGV (2); The chuck subassembly includes a first connecting frame (61), a three-jaw chuck assembly (62) mounted on the first connecting frame (61), a first drive motor (63), a worm (64), and a turbine (68); the first connecting frame (61) is connected to the left single-body AGV (2) or the right single-body AGV (5); the first drive motor (63) drives the worm (64) to rotate; both ends of the worm (64) respectively drive a turbine (68) to rotate; each turbine (68) is connected to a three-jaw chuck assembly (62) to drive the three-jaw chuck assembly (62) to open and close; Each three-jaw chuck assembly (62) is used in conjunction with a lock column subassembly, and the lock column subassembly includes a second connecting frame (66) and a second drive motor (65) installed on the second connecting frame (66), a lock column (67), a spring (69), a U-shaped frame (70), a Z-shaped frame (71), a guide rod (72), a linear bearing (73), a rotating roller (74), and a turntable (75); the second connecting frame (66) is an inverted L-shaped structure including an upper block and a side block, the lower end of the upper block is connected to the U-shaped frame (70), the upper block is slidably connected to the lock column (67) through the linear bearing (73), two guide rods (72) are provided between the lower end of the upper block and the bottom end block of the U-shaped frame (70), the two guide rods (72) pass through the Z-shaped frame (71) and are slidably connected, and the lower end of the lock column (67) The side block is connected to the upper end of the Z-shaped frame (71), and a spring (69) is respectively sleeved on the two guide rods (72) between the Z-shaped frame (71) and the bottom block of the U-shaped frame (70). A second drive motor (65) is provided on the outer side of the side block, and the output shaft of the second drive motor (65) is connected to the turntable (75) located on the inner side of the side block. An eccentric rotating roller (74) is provided on the turntable, and the rotating roller (74) is connected to one side of the Z-shaped frame (71). The second drive motor (65) drives the turntable to rotate, thereby driving the rotating roller (74) to rotate, so that the Z-shaped frame (71) can be pressed down, thereby driving the lock column (67) to retract. When the second drive motor (65) rotates in the opposite direction, the elastic force of the spring (69) is used to make the Z-shaped frame (71) and the lock column (67) extend.

6. The cross-type combined AGV for an aircraft assembly line according to claim 4, characterized in that: A first laser rangefinder (21), a second laser rangefinder (22), and a third laser rangefinder (23) are provided on the left single AGV (2) on the side of the forward moving support unit, and are used in conjunction with the second plane reflector (14), the first inclined plane reflector (13), and the first plane reflector (11), respectively. A third plane reflector (25), a second inclined plane reflector (26), and a fourth plane reflector (27) are provided on the side of the backward moving support unit.

7. The cross-type combined AGV for an aircraft assembly line according to claim 1, characterized in that: The AGV subunit of the rear mobile support unit is a rear single AGV (4).

8. The cross-type combined AGV for an aircraft assembly line according to claim 7, characterized in that: The rear single-body AGV (4) is provided with a sixth laser rangefinder (43), a fifth laser rangefinder (42), and a fourth laser rangefinder (41), which are used in conjunction with the third plane reflector (25), the second inclined plane reflector (26), and the fourth plane reflector (27), respectively.

9. A cross-type combined AGV for an aircraft assembly line according to any one of claims 1 to 8, characterized in that: The supporting and positioning subunit comprises an XY movable platform and a lifting screw lifting mechanism, wherein the lifting screw lifting mechanism is mounted on the XY movable platform, and the XY movable platform is mounted on the AGV subunit, and the lifting screw lifting mechanism comprises a lifting screw lifting mechanism body (34) and a positioning ball head (35), and the positioning ball head (35) is mounted on the lifting screw lifting mechanism body (34).

10. The cross-type combined AGV for an aircraft assembly line according to claim 9, characterized in that: A leveling screw lifting mechanism body (36) is respectively installed on the four corners of the XY moving platform, and is connected to the AGV subunit via the leveling screw lifting mechanism body (36).

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