Precise docking device for aircraft wing assembly

Abstract

The utility model discloses an accurate docking device for aircraft wing assembly, which relates to the technical field of aviation maintenance assembly and comprises a heavy AGV (automatic guided vehicle), a plane moving mechanism, a posture adjusting mechanism, a laser measuring mechanism and a PLC (programmable logic controller), the moving end of the plane moving mechanism can drive the posture adjusting mechanism to move in the X direction, the Y direction and the Z direction and to be limited to the moved position. The top of the posture adjusting mechanism is used for fixing a wing needing to be assembled and can adjust the posture of the wing. The laser measuring mechanism is used for acquiring space coordinates of the wing assembly hole site and the fuselage assembly hole site in real time; the accurate docking device for aircraft wing assembly is simple in structure and convenient to use, the labor intensity of manual operation is effectively reduced, the assembly efficiency and the wing docking accuracy are effectively improved, and installation stress is effectively avoided.

Description

A precision docking device for assembling aircraft wings Technical Field

[0001] This utility model relates to the field of aviation maintenance and assembly technology, and in particular to a precise docking device for aircraft wing assembly. Background Technology

[0002] In the aviation maintenance support process, the final assembly process after aircraft overhaul and maintenance is crucial, with the docking and assembly of the wings being of paramount importance. Currently, the assembly mainly utilizes tooling trolleys for the initial handling and movement of the wings, followed by multiple operators adjusting the wing attitude and accurately aligning the mounting holes. This process is time-consuming and labor-intensive.

[0003] Chinese Patent (Authorization No.: CN101745905B) "A Multi-DOF Adjustable Assembly Platform for Aircraft Wing Assembly" discloses a multi-DOF adjustable assembly platform for aircraft wing assembly, specifically comprising three parts: a clamping part, a lateral motion mechanism, and a longitudinal and rotational mechanism. This platform features good flexibility, a short assembly cycle, and a small footprint. However, its disadvantages are: firstly, the platform only has three degrees of freedom, requiring multiple operations to complete the wing assembly; and secondly, the platform lacks a spatial attitude measurement device, making it difficult to accurately and quickly determine the amount of movement between the wing and the fuselage during assembly. Summary of the Invention

[0004] The purpose of this invention is to provide a precise docking device for aircraft wing assembly, which solves the problems existing in the prior art. It has a simple structure, is easy to use, effectively reduces the labor intensity of manual operation, effectively improves assembly efficiency and the accuracy of wing docking, and effectively avoids installation stress.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides a precision docking device for aircraft wing assembly, comprising: a heavy-duty AGV vehicle, a planar moving mechanism, an attitude adjustment mechanism, a laser measuring mechanism, and a PLC controller. The heavy-duty AGV vehicle is capable of omnidirectional movement. The fixed end of the planar moving mechanism is mounted on the top of the heavy-duty AGV vehicle. The attitude adjustment mechanism is mounted on the moving end of the planar moving mechanism, and the moving end of the planar moving mechanism can drive the attitude adjustment mechanism to move in the X direction, move in the Y direction, and rotate in the Z direction, and limit it to the moved position. The top of the attitude adjustment mechanism is used to fix the wing to be assembled and can adjust the attitude of the wing. The laser measuring mechanism is used to acquire the spatial coordinates of the wing assembly holes and the fuselage assembly holes in real time. The PLC controller is signal-connected to the laser measuring mechanism, the attitude adjustment mechanism, and the planar moving mechanism to receive the spatial coordinate information of the wing assembly holes and the fuselage assembly holes measured by the laser measuring mechanism and to provide feedback control to the planar moving mechanism and the attitude adjustment mechanism.

[0007] Preferably, the attitude adjustment mechanism includes an angle adjustment mechanism and an attitude adjustment platform. The angle adjustment mechanism is fixedly connected to the moving end of the planar moving mechanism. The adjusting end of the angle adjustment mechanism is connected to the bottom surface of the attitude adjustment platform to adjust the placement angle of the attitude adjustment platform. The top surface of the attitude adjustment platform is used to fix the wing to be assembled.

[0008] Preferably, the angle adjustment mechanism includes a first lifting rod, a first spherical hinge joint, a second lifting rod, a second spherical hinge joint, a third lifting rod, a third spherical hinge joint, a first slide rail, and a second slide rail. The bottom ends of the first lifting rod, the second lifting rod, and the third lifting rod are all vertically and fixedly connected to the moving end of the planar moving mechanism. The first slide rail and the second slide rail are fixedly connected to the bottom surface of the attitude adjustment platform. The first spherical hinge joint is slidably connected to the first slide rail, the second spherical hinge joint is slidably connected to the second slide rail, and the third spherical hinge joint is fixedly connected to the bottom surface of the attitude adjustment platform. The first lifting rod is connected to the first spherical hinge joint, the second lifting rod is connected to the second spherical hinge joint, and the third lifting rod is connected to the third spherical hinge joint. The raising or lowering of one or more of the first lifting rod, the second lifting rod, and the third lifting rod can change the placement angle of the attitude adjustment platform. The first lifting rod, the second lifting rod, and the third lifting rod are signal-connected to the PLC controller.

[0009] Preferably, it further includes a first slider and a second slider, the first slider being slidably connected to the first slide rail, the bottom end of the first slider being fixedly connected to the first spherical hinge joint, the second slider being slidably connected to the first slide rail, and the second slider being fixedly connected to the second spherical hinge joint.

[0010] Preferably, the extension lines of the first slide rail and the second slide rail are arranged perpendicularly, and the connection position of the third spherical hinge joint with the attitude adjustment platform is located on the line of symmetry between the first slide rail and the second slide rail.

[0011] Preferably, the planar movement mechanism includes an XY-axis displacement mechanism and a rotation mechanism. The fixed end of the XY-axis displacement mechanism is mounted on the top of the heavy-duty AGV vehicle. The rotation mechanism is horizontally rotatably connected to the moving end of the XY-axis displacement mechanism and can move in an X-square or Y-square direction under the drive of the XY-axis displacement mechanism. The top end of the rotation mechanism is fixedly connected to the bottom ends of the first lifting rod, the second lifting rod, and the third lifting rod. Both the XY-axis displacement mechanism and the rotation mechanism are signal-connected to the PLC controller.

[0012] Preferably, the heavy-duty AGV includes a chassis and at least four Mecanum wheels, each Mecanum wheel being symmetrically mounted on both sides of the bottom of the chassis, and the fixed end of the XY axis displacement mechanism being mounted on the top of the chassis.

[0013] Preferably, the laser measurement mechanism is a binocular structured light scanner.

[0014] The present invention achieves the following technical advantages over the prior art:

[0015] This invention provides a precision docking device for aircraft wing assembly. Utilizing the omnidirectional mobility of a heavy-duty AGV (Automated Guided Vehicle), it can be flexibly deployed on-site, facilitating rapid access to the wing placement position and fuselage assembly area, reducing equipment movement time and improving assembly efficiency. The connection between the planar movement mechanism and the heavy-duty AGV provides a stable foundation for the subsequent attitude adjustment mechanism and wing movement. The attitude adjustment mechanism can move and rotate in multiple dimensions, allowing the wing to be adjusted to a suitable attitude to meet high-precision assembly requirements. The laser measurement mechanism acquires the spatial coordinates of the hole positions in real time, and combined with feedback control from the PLC controller, it can accurately determine the assembly position of the wing and fuselage, improving docking accuracy, effectively reducing errors caused by manual operation, and avoiding installation stress caused by inaccurate positioning. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 is a structural schematic diagram of the precision docking device for aircraft wing assembly provided by this utility model.

[0018] Figure 2 is a front view of the precision docking device for aircraft wing assembly provided by this utility model;

[0019] Figure 3 is a side view of the precision docking device for aircraft wing assembly provided by this utility model;

[0020] Figure 4 is a bottom view of the attitude adjustment platform in the precision docking device for aircraft wing assembly provided by this utility model.

[0021] In the diagram: 1. Heavy-duty AGV vehicle; 11. Chassis; 12. Mecanum wheel; 2. Planar movement mechanism; 3. Attitude adjustment mechanism; 31. First lifting rod; 32. First spherical hinge joint; 33. Second lifting rod; 34. Second spherical hinge joint; 35. Third lifting rod; 36. Third spherical hinge joint; 37. First slide rail; 38. Second slide rail; 39. Attitude adjustment platform. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The purpose of this invention is to provide a precise docking device for aircraft wing assembly, which solves the problems existing in the prior art. It has a simple structure, is easy to use, effectively reduces the labor intensity of manual operation, effectively improves assembly efficiency and the accuracy of wing docking, and effectively avoids installation stress.

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] This utility model provides a precision docking device for aircraft wing assembly, as shown in Figures 1-4, comprising: a heavy-duty AGV 1, a planar moving mechanism 2, an attitude adjustment mechanism 3, a laser measuring mechanism, and a PLC controller. The heavy-duty AGV 1 is capable of omnidirectional movement. The fixed end of the planar moving mechanism 2 is mounted on the top of the heavy-duty AGV 1. The attitude adjustment mechanism 3 is mounted on the moving end of the planar moving mechanism 2, and the moving end of the planar moving mechanism 2 can drive the attitude adjustment mechanism 3 to move in the X direction, move in the Y direction, and rotate in the Z direction, thus limiting it to the moved position. The X and Y directions are two mutually perpendicular directions in the horizontal direction, and the Z direction is a rotation in the horizontal direction. The top of the attitude adjustment mechanism 3 is used to fix the wing to be assembled and can adjust the attitude of the wing; the laser measuring mechanism is used to acquire the spatial coordinates of the wing assembly holes and the fuselage assembly holes in real time; the PLC controller is connected to the laser measuring mechanism, the attitude adjustment mechanism 3 and the planar moving mechanism 2 to receive the spatial coordinate information of the wing assembly holes and the fuselage assembly holes measured by the laser measuring mechanism and to feed back and control the planar moving mechanism 2 and the attitude adjustment mechanism 3. Through the omnidirectional travel capability of the heavy-duty AGV, it can be flexibly dispatched on the assembly site, facilitating rapid access to the wing placement position and the fuselage assembly area, reducing equipment movement time and improving assembly efficiency. The connection between the planar moving mechanism 2 and the heavy-duty AGV provides a stable foundation for the subsequent movement of the attitude adjustment mechanism 3 and the wing. The attitude adjustment mechanism 3 can move and rotate in multiple dimensions, enabling the wing to be adjusted to a suitable attitude to meet high-precision assembly requirements; the laser measurement mechanism acquires the spatial coordinates of the hole positions in real time, and combined with the feedback control of the PLC controller, it can accurately determine the assembly position of the wing and the fuselage, improve the docking accuracy, effectively reduce the error caused by manual operation, and avoid installation stress caused by inaccurate positioning.

[0026] In a preferred embodiment, the attitude adjustment mechanism 3 includes an angle adjustment mechanism and an attitude adjustment platform 39. The angle adjustment mechanism is fixedly connected to the moving end of the planar moving mechanism 2. The adjusting end of the angle adjustment mechanism is connected to the bottom surface of the attitude adjustment platform 39 to adjust the placement angle of the attitude adjustment platform 39. The top surface of the attitude adjustment platform 39 is used to fix the wing to be assembled. The angle adjustment mechanism can flexibly adjust the angle of the attitude adjustment platform 39, thereby realizing the all-round adjustment of the wing attitude. This can better adapt to the precise attitude requirements of different aircraft wings during assembly and improve the flexibility and controllability of wing attitude adjustment during docking.

[0027] In a preferred embodiment, the angle adjustment mechanism includes a first lifting rod 31, a first spherical hinge joint 32, a second lifting rod 33, a second spherical hinge joint 34, a third lifting rod 35, a third spherical hinge joint 36, a first slide rail 37, and a second slide rail 38. The bottom ends of the first lifting rod 31, the second lifting rod 33, and the third lifting rod 35 are all vertically and fixedly connected to the moving end of the planar movement mechanism 2. The first slide rail 37 and the second slide rail 38 are fixedly connected to the bottom surface of the attitude adjustment platform 39. The first spherical hinge joint 32 is slidably connected to the first slide rail 37, the second spherical hinge joint 34 is slidably connected to the second slide rail 38, and the third spherical hinge joint 36 is fixedly connected to the attitude adjustment platform 39. On the bottom surface of platform 39, the first lifting rod 31 is connected to the first spherical hinge joint 32, the second lifting rod 33 is connected to the second spherical hinge joint 34, and the third lifting rod 35 is connected to the third spherical hinge joint 36. The raising or lowering of one or more of the first, second, and third lifting rods 31, 33, and 35 can change the placement angle of the attitude adjustment platform 39. The first, second, and third lifting rods 31, 33, and 35 are connected to the PLC controller. This unique angle adjustment mechanism, through the cooperation of the three lifting rods, the spherical hinge joints, and the slide rail, can precisely adjust the placement angle of the attitude adjustment platform 39, making wing attitude fine-tuning more accurate. The PLC controller is connected to the lifting rods for automated control, allowing for rapid and accurate adjustment of the wing attitude based on coordinate information fed back by the laser measuring mechanism, improving assembly efficiency and docking accuracy.

[0028] In a preferred embodiment, the system further includes a first slider and a second slider. The first slider is slidably connected to the first slide rail 37, and its bottom end is fixedly connected to the first spherical hinge joint 32. The second slider is slidably connected to the first slide rail 37 and fixedly connected to the second spherical hinge joint 34. The arrangement of the first and second sliders further enhances the stability and smoothness of the spherical hinge joint sliding on the slide rail. During the process of raising or lowering the lifting rod to change the angle of the attitude adjustment platform 39, the connection relationship between the components is more stable, ensuring the reliability and accuracy of the attitude adjustment mechanism 3 when adjusting the wing attitude, and avoiding the impact of component swaying on the accuracy of wing attitude adjustment.

[0029] In a preferred embodiment, the extension lines of the first slide rail 37 and the second slide rail 38 are perpendicularly arranged, and the connection position of the third spherical hinge joint 36 to the attitude adjustment platform 39 is located on the line of symmetry between the first slide rail 37 and the second slide rail 38. The perpendicular arrangement of the slide rail extension lines and the specific connection position of the third spherical hinge joint 36 enable the attitude adjustment mechanism 3 to achieve multi-angle, high-precision attitude adjustment when adjusting the angle of the attitude adjustment platform 39. Based on this symmetrical and vertical structure, the attitude adjustment mechanism 3 can respond quickly and accurately regardless of which direction the wing needs attitude adjustment, ensuring that the wing is always in the optimal docking attitude, improving the accuracy and success rate of assembly.

[0030] In a preferred embodiment, the planar movement mechanism 2 includes an XY-axis displacement mechanism and a rotation mechanism. The fixed end of the XY-axis displacement mechanism is mounted on the top of the heavy-duty AGV 1. The moving end of the XY-axis displacement mechanism is fixedly connected to the fixed end of the rotation mechanism to drive the turntable to move in an X-square or Y-square direction. The rotating end of the turntable is fixedly connected to the bottom ends of the first lifting rod 31, the second lifting rod 33, and the third lifting rod 35. The rotation mechanism includes a rotary motor and a turntable. Both the XY-axis displacement mechanism and the rotary motor are signal-connected to the PLC controller. The XY-axis displacement mechanism can be the XY-axis displacement mechanism disclosed in the patent announcement number CN219243086U, entitled "An Adjustable Precision Movement XY-axis Displacement Mechanism". The planar movement mechanism 2 adopts a combination of the XY-axis displacement mechanism and the turntable to achieve precise planar movement in the X and Y directions and precise rotation in the Z direction. This multi-dimensional precision movement and rotation capability, combined with PLC controller signal control, allows for more flexible adjustment of the wing's position and angle in space, further improving the alignment accuracy of the wing and fuselage mounting holes, reducing deviations during assembly, and enhancing overall assembly quality. Simultaneously, the XY-axis displacement mechanism, utilizing a specific authorized notification number, provides technical assurance for achieving high-precision displacement.

[0031] In a preferred embodiment, the heavy-duty AGV 1 includes a chassis 11 and at least four Mecanum wheels 12. Each Mecanum wheel is symmetrically mounted on both sides of the bottom of the chassis 11. The fixed end of the XY-axis displacement mechanism is mounted on the top of the chassis 11. The heavy-duty AGV's structure of chassis 11 and at least four Mecanum wheels 12, with the Mecanum wheels 12 symmetrically mounted, ensures good stability and maneuverability even when carrying an airfoil, adapting to different work sites and routes. This ensures that during airfoil handling and docking, there is less likelihood of shaking or tilting that could affect assembly accuracy. The XY-axis displacement mechanism, mounted on the top of the chassis 11, further improves the overall structural layout of the device, facilitating collaborative work between components and enhancing the stability and smoothness of the assembly process.

[0032] In a preferred embodiment, the laser measurement mechanism is a binocular structured light scanner. As a laser measurement mechanism, the binocular structured light scanner can more accurately acquire the spatial coordinates of the wing and fuselage assembly holes in real time, offering higher accuracy and resolution compared to other measurement methods. This high-precision measurement data provides accurate information to the PLC controller, thereby more accurately feeding back control to the planar movement mechanism 2 and the attitude adjustment mechanism 3, effectively improving the precision of the wing-fuselage assembly and reducing manual measurement errors and assembly time.

[0033] The following are the instructions for using the precision docking device for assembling the aircraft's wings:

[0034] Preparation stage

[0035] Positioning the AGV: Utilizing the omnidirectional movement capability of heavy-duty AGVs, they are manually or automatically moved under the tooling rack where the wing is placed, according to instructions. This process, thanks to the mobility of the AGVs, allows for flexible and rapid access to the designated location, shortening equipment positioning time.

[0036] Connect and lift the wings

[0037] Manipulate the planar movement mechanism 2 on the heavy-duty AGV to raise the attitude adjustment mechanism 3 to a suitable position. During this process, the angle adjustment mechanism connected to the moving end of the planar movement mechanism 2 plays a role. The three lifting rods rise according to the control command, and through cooperation with the ball joint, slider and slide rail, the attitude adjustment platform 39 is adjusted to a state that is easy to operate.

[0038] After the attitude adjustment platform 39 is raised, the wing is lifted from the tooling frame, and the top surface of the attitude adjustment platform 39 is fixedly connected to the wing. This step utilizes the angle adjustment mechanism to precisely adjust the angle of the attitude adjustment platform 39, ensuring that the wing is stably and accurately fixed to the attitude adjustment platform 39.

[0039] Transfer to the assembly area: Maneuver the heavy-duty AGV vehicle again using its omnidirectional travel function to move it to the open area where the machine body is to be assembled.

[0040] coarse adjustment stage

[0041] Initial alignment of axes: In the fuselage assembly area, the position of the heavy-duty AGV is adjusted by manipulating it so that the wing edge mounting axis, mounted on the attitude adjustment platform 39, is initially parallel to the fuselage side edge mounting axis. The omnidirectional movement of the AGV makes this adjustment process more flexible and convenient.

[0042] Acquiring coordinate data: The laser measurement mechanism (binocular structured light scanner) is activated to acquire the initial spatial coordinates of the wing assembly holes and their corresponding fuselage assembly holes in real time. The high precision of this measurement mechanism ensures that the acquired data is accurate and reliable, providing a precise basis for subsequent adjustments.

[0043] Calculate and adjust attitude

[0044] The three lifting rods are raised one by one to a certain height (e.g., 10 cm), while the laser measuring mechanism measures the spatial coordinate changes of the wing assembly hole positions in real time. Based on the measurement data, a calculation formula is derived for the spatial changes of the wing assembly hole positions and the adjustment amount of the three vertical lifting rods.

[0045] The calculation result is fed back to the PLC controller, which then controls the three lifting rods to further adjust the wing edge mounting axis and the fuselage body mounting axis to maintain them on the same horizontal plane, and precisely confirms the angle between them. This method of laser measurement and feedback control improves the accuracy of coarse wing attitude adjustment.

[0046] Fine-tuning stage

[0047] Parallel alignment adjustment: The turntable structure of the planar moving mechanism 2 is operated by the PLC controller to fine-tune the rotation angle, ensuring that the wing edge mounting axis is strictly parallel to the fuselage side mounting axis. The connection between the turntable and the PLC controller, as well as the precise angle control function, ensures the high precision of this adjustment.

[0048] Vertical alignment adjustment: The PLC controller issues commands to control the XY-axis displacement mechanism of the planar moving mechanism 2, ensuring that the line connecting the wing mounting holes and the corresponding mounting holes on the fuselage is perpendicular to the mounting axis along the fuselage side. Under the control of the PLC controller, the XY-axis displacement mechanism can be precisely positioned, meeting this high-precision requirement for vertical alignment.

[0049] Position alignment adjustment: Continuing to utilize the XY-axis displacement mechanism's coordinated fine-tuning function in the X and Y directions, the wing edge mounting axis is made to perfectly coincide with the fuselage body mounting axis. The precise movement and rotation capabilities of the XY-axis displacement mechanism and the turntable ensure high-precision alignment of the wing and fuselage.

[0050] Connecting the wings to the fuselage: After the wings and fuselage are precisely positioned, bolts are used to connect them together.

[0051] Final stage

[0052] Separate the attitude adjustment platform 39 from the wing: Remove the fixed connection between the attitude adjustment platform 39 and the wing to separate the two.

[0053] Reset device components

[0054] The PLC controller is manipulated to retract and lower the three lifting masts, causing the attitude adjustment platform 39 to return to its original position. During this process, the signal connection between the PLC controller and the lifting masts ensures that the reset action is completed accurately.

[0055] Operate the XY axis displacement mechanism and turntable of the planar moving mechanism 2 to return them to their initial positions, prepare for the next assembly work, and ensure that the equipment is in an operational state.

[0056] AGV vehicle return: Control the heavy-duty AGV vehicle to move to the charging area to recharge for the next use, so as to quickly respond to subsequent assembly tasks.

[0057] Throughout the entire process, the laser measuring mechanism continuously acquires spatial coordinate data in real time and feeds the information back to the PLC controller. Based on this data, the PLC controller precisely controls the movement of the heavy-duty AGV, the movement of the planar moving mechanism 2 in the X and Y directions and the rotation in the Z direction, as well as the action of the angle adjustment mechanism in the attitude adjustment mechanism 3, thereby achieving precise docking of the aircraft wing assembly.

[0058] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A precision docking device for assembling aircraft wings, characterized in that: include: A heavy-duty AGV vehicle (1) capable of omnidirectional travel; a planar moving mechanism (2) with its fixed end mounted on the top of the heavy-duty AGV vehicle (1); an attitude adjustment mechanism (3) mounted on the moving end of the planar moving mechanism (2), the moving end of the planar moving mechanism (2) being able to drive the attitude adjustment mechanism (3) to move in the X direction, move in the Y direction, and rotate in the Z direction and be limited to the position after movement, the top of the attitude adjustment mechanism (3) being used to fix the wing to be assembled and to adjust the attitude of the wing; a laser measuring mechanism for acquiring the spatial coordinates of the wing assembly hole and the fuselage assembly hole in real time; and a PLC controller connected to the laser measuring mechanism, the attitude adjustment mechanism (3), and the planar moving mechanism (2) to receive the spatial coordinate information of the wing assembly hole and the fuselage assembly hole measured by the laser measuring mechanism and to feed back control of the planar moving mechanism (2) and the attitude adjustment mechanism (3).

2. The precision docking device for aircraft wing assembly according to claim 1, characterized in that: The attitude adjustment mechanism (3) includes an angle adjustment mechanism and an attitude adjustment platform (39). The angle adjustment mechanism is fixedly connected to the moving end of the planar moving mechanism (2). The adjustment end of the angle adjustment mechanism is connected to the bottom surface of the attitude adjustment platform (39) to adjust the placement angle of the attitude adjustment platform (39). The top surface of the attitude adjustment platform (39) is used to fix the wing to be assembled.

3. The precision docking device for aircraft wing assembly according to claim 2, characterized in that: The angle adjustment mechanism includes a first lifting rod (31), a first spherical hinge joint (32), a second lifting rod (33), a second spherical hinge joint (34), a third lifting rod (35), a third spherical hinge joint (36), a first slide rail (37), and a second slide rail (38). The bottom ends of the first lifting rod (31), the second lifting rod (33), and the third lifting rod (35) are all vertically and fixedly connected to the moving end of the planar moving mechanism (2). The first slide rail (37) and the second slide rail (38) are fixedly connected to the bottom surface of the attitude adjustment platform (39). The first spherical hinge joint (32) is slidably connected to the first slide rail (37), and the second spherical hinge joint (34) is slidably connected to the bottom surface of the attitude adjustment platform (39). The second slide rail (38) and the third spherical hinge joint (36) are fixedly connected to the bottom surface of the posture adjustment platform (39). The first lifting rod (31) is connected to the first spherical hinge joint (32), the second lifting rod (33) is connected to the second spherical hinge joint (34), and the third lifting rod (35) is connected to the third spherical hinge joint (36). The rise or fall of one or more of the first lifting rod (31), the second lifting rod (33), and the third lifting rod (35) can drive the change of the placement angle of the posture adjustment platform (39). The first lifting rod (31), the second lifting rod (33), and the third lifting rod (35) are connected to the PLC controller signal.

4. The precision docking device for aircraft wing assembly according to claim 3, characterized in that: It also includes a first slider and a second slider. The first slider is slidably connected to the first slide rail (37). The bottom end of the first slider is fixedly connected to the first spherical hinge joint (32). The second slider is slidably connected to the second slide rail (38). The second slider is fixedly connected to the second spherical hinge joint (34).

5. The precision docking device for aircraft wing assembly according to claim 4, characterized in that: The extension lines of the first slide rail (37) and the second slide rail (38) are arranged perpendicularly, and the connection position of the third spherical hinge joint (36) and the attitude adjustment platform (39) is located on the line of symmetry between the first slide rail (37) and the second slide rail (38).

6. The precision docking device for aircraft wing assembly according to claim 5, characterized in that: The planar moving mechanism (2) includes an XY axis displacement mechanism and a rotating mechanism. The fixed end of the XY axis displacement mechanism is installed on the top of the heavy-duty AGV vehicle (1). The rotating mechanism is horizontally rotatably connected to the moving end of the XY axis displacement mechanism and can move in an X square or Y square under the drive of the XY axis displacement mechanism. The top end of the rotating mechanism is fixedly connected to the bottom end of the first lifting rod (31), the second lifting rod (33), and the third lifting rod (35). Both the XY axis displacement mechanism and the rotating mechanism are signal connected to the PLC controller.

7. The precision docking device for aircraft wing assembly according to claim 6, characterized in that: The heavy-duty AGV (1) includes a chassis (11) and at least four Mecanum wheels (12), each Mecanum wheel being symmetrically mounted on both sides of the bottom of the chassis (11), and the fixed end of the XY axis displacement mechanism being mounted on the top of the chassis (11).

8. The precision docking device for aircraft wing assembly according to claim 7, characterized in that: The laser measurement mechanism is a binocular structured light scanner.

Images