CN102092478A - Positioning device for butting wing body - Google Patents
Positioning device for butting wing body Download PDFInfo
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- CN102092478A CN102092478A CN201010621481XA CN201010621481A CN102092478A CN 102092478 A CN102092478 A CN 102092478A CN 201010621481X A CN201010621481X A CN 201010621481XA CN 201010621481 A CN201010621481 A CN 201010621481A CN 102092478 A CN102092478 A CN 102092478A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
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Abstract
The invention relates to a positioning device for butting a wing body, which is characterized in that the positioning device comprises three positioners for performing attitude adjustment on a part of an airplane, wherein the first positioner is placed at a support point with maximum bearing pressure on a wing and can do translation motion freely in X, Y and Z directions; the second positioner is placed at a farthest point in the X direction of the wing and can do the translation motion freely in the Y and the Z directions and do driven movement in the X direction; and the third positioner is determined according to the position of gravity center of the part of the airplane, the position of the third positioner needs to enable a connecting part for the part of the airplane to meet strength requirement, and enable the stress on each positioner to be uniform, and the third positioner can do the translation motion freely in the Z direction and do the driven movement in the X and the Y directions. The positioning system does not need multi-axis linkage, thereby simplifying the complexity of the system, simultaneously ensuring the safety and the reliability, reducing the cost, reducing the cost for manufacturing, mounting and measuring, and also reducing the cost of a foundation.
Description
Technical field
The present invention relates to aircraft refitting field, especially, the present invention relates to be used for position fixing system and the localization method that aircraft is installed.
Background technology
The butt joint assembling of aircraft wing body section is a not only complicated but also time-consuming fitting process, and the quality quality directly has influence on the flight safety of aircraft.Traditional assembly technology has adopted a large amount of fixing tools and scaffold, and assembly period is long, and labor strength is big, and assembly quality is low and unstable.
Over year, with Boeing 777,787, A340, A380 are embodiment and the development tendency that the novel large airplane centralized of representative has reflected the advanced assembly technique of aircraft surplus in the of nearly ten, and one of its feature is to have adopted digitalisation automatic butt system in a large number.
Above-mentioned digitalisation automatic butt system mainly is made up of autonavigator, measuring system, control system and system of posture adjustment integrated software.In the automatic butt process, at first pass through measuring system, carry out the accurate measurement of big component locations, give steady arm with data transfer after assembling trajectory planning, drive that autonavigator carries out moving freely of X, Y, a Z3 direction and around the rotation of X, Y, a Z3 direction by servomotor, thereby realize the accurate location of the big parts of aircraft, and finish butt joint.
Along with Computer Control Technology, the servo-drive technology, the development of Digital Measuring Technique constantly has later-model posture adjustment platform to occur.The strong point increases, and the degree of freedom of the strong point increases, and DOF (degree of freedom) redundance increases.This makes the posture adjustment process must rely on specific leveling algorithm repeatedly to link and could realize through multiple degree of freedom.
At present, the steady arm that is used for the adjustment of aircraft wing pose mostly is the three-dimensional supporting mechanism.Each degree of freedom for each steady arm all adopts driven by servomotor, adopts a series of leveling algorithm, drives a plurality of motor linkages simultaneously.In theory, strong point increase has effectively reduced the influence of wing distortion, the multi-point interlinked assembly stress that effectively reduced.But also all kinds of corrupt practices creep in for such locate mode.At first, such locate mode can make the position fixing system complex structure.Secondly the motor that needs is more, and is higher to the control system performance requriements, and also higher to the measurement and the synchronism requirement of each motion, these have all increased the cost of position fixing system.In addition, controlled degree of freedom is many more, needs the process of mobile decoupling just many more, and this has not only increased the complexity of leveling algorithm, thereby has also increased the problem of crossing the constraint breaking space that causes because of algorithm instability or hardware fault.At last, existing locate mode is all very high to making installation, measurement and foundation requirement.
Summary of the invention
The objective of the invention is to propose a kind of position fixing system, it need not complicated linkage process in position fixing process, thereby reduces in the aircraft component attitude adjusting process the dependence of measuring system, has guaranteed the safe reliability of position fixing system.
For achieving the above object, the invention provides a kind of registration device that is used for the butt joint of wing body, it is characterized in that described registration device comprises three steady arms that are used for aircraft components is carried out posture adjustment, wherein:
First steady arm places wing bearing pressure maximum support point, and on X, Y, Z direction motion of translation freely;
Second steady arm places wing directions X solstics place, and at Y, Z direction motion of translation freely, is driven moving at directions X;
The 3rd steady arm, its center-of-gravity position according to described aircraft components determines that its position need make described aircraft components connecting portion satisfy requirement of strength, and makes the stressed even of each steady arm, described the 3rd steady arm can upwards move for driven at X, Y at Z motion of translation freely upwards.
In addition, the present invention also provides a kind of position fixing system that is used for the butt joint of wing body, and it comprises a registration device, and this registration device comprises three steady arms that are used for aircraft components is carried out posture adjustment, wherein:
First steady arm places wing bearing pressure maximum support point, and on X, Y, Z direction motion of translation freely;
Second steady arm places wing directions X solstics place, and at Y, Z direction motion of translation freely, is driven moving at directions X;
The 3rd steady arm is according to the center-of-gravity position location of described aircraft components, its position need make described aircraft components have enough structural strengths, and make each steady arm stressed evenly, described the 3rd steady arm can upwards move for driven at X, Y at Z motion of translation freely upwards.
Especially, the motion of translation of described first steady arm, second steady arm and the 3rd steady arm is by motor-driven, and described motor is connected with motor driving shaft in the described steady arm.Described motor is connected with described steady arm by ball-screw, and described motor is a servomotor.
Position fixing system of the present invention also comprises:
Some measurement points, described measurement point are provided with on the stronger framing member of wing rigidity
Sensor, its axial location that is used for the detection and location device is with respect to the actual displacement amount of steady arm origin position and detect each steady arm stressing conditions in the axial direction in real time;
Measurement mechanism, it is used to detect the position of each measurement point, and can calculate the posture information of wing according to the data model of wing, and the information that will detect and/or calculate output;
Central control unit, it is used for the information that receiving sensor and measurement mechanism detect and/or calculate, and this information is shown, and it can produce and send the registration device operating order;
Control-driven system, it is connected with described motor and can and the registration device operating order that is received can be converted into the drive signal of motor, realizes control to the axial location and the moving velocity of a plurality of steady arms with this by motor.
Especially, described system also comprises the hand-held portable terminal, and this portable terminal can be to described control-driven system transmit operation instruction.Especially, described hand-held portable terminal also comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in the described portable terminal.Preferably, described touching display screen can also show the location information of each described steady arm and be subjected to force information.
Especially, described measurement point is arranged on aircraft wing front/rear end and the rib.
Especially, described sensor comprises grating chi and force gauge.
Especially, described central control unit comprises touch formula read-out, and by described touching display screen, the operating order of described registration device is imported in the described central control unit.
Especially, described control-driven system can be selected single steady arm and carries out feeding operation.More particularly, described control-driven system can make described selected steady arm carry out feeding with certain speed.
Especially, described central control unit also comprises:
Holder is used to store the theoretical data model of the theoretical position and the wing of described measurement point.
Steady arm trajectory planning module, it can transfer the measurement point theoretical position in the described holder, and according to the detection information of received sensor and measurement mechanism, plans the track of described steady arm automatically, so that described measurement point moves to its theoretical position place.
Use the step of carrying out wing body butt joint assembling of position fixing system of the present invention as follows:
1) by the location information of measurement point on the measurement mechanism detection wing, by comparing its mathematical point position, calculates the posture information of wing, and calculate the deviation of theoretical pose and attained pose;
2), generate the path of motion of each steady arm by the trajectory planning module, and, adjust it to the parallel state of theoretical pose by the motion of control-driven system drive motor according to the theoretical pose that calculates in the step 1) and the deviation of attained pose.
3) repeating step 1) operation,, in range of tolerable variance, then stop as deviation, otherwise repeating step 2) operation, up to satisfying the tolerance requirement;
4) adjust each measurement point Y to satisfying the tolerance requirement, wing is moved to lower slightly, and, guarantee that each measurement point X is to satisfying the tolerance requirement to the feeding of fuselage direction and near fuselage than theoretical position, then with 3 steady arms along Z to synchronous lifting, satisfy the tolerance requirement until each measurement point Z to coordinate.
5) on interface, form the cooresponding bolt hole of bolt a plurality of and wing and fuselage;
6) described steady arm is made progress to away from fuselage direction motion preset distance at X, finish the work of hole burr;
7) with described steady arm upwards near fuselage direction motion preset distance, finish the insertion again of wing.
Because in position fixing system of the present invention, have only first steady arm on three directions of XYZ, to move, and other two steady arms just carry out the slave mode operation, so position fixing system of the present invention is not having to have realized under the multi-shaft interlocked situation that the full degree of freedom of wing carries out the spatial pose adjustment irredundantly, thereby guaranteed safe reliability when having simplified system complexity, reduced cost and making the cost of installation, measurement and ground.
Description of drawings
Fig. 1 is the scheme drawing of steady arm of the present invention;
Fig. 2 is the floor plan scheme drawing of steady arm of the present invention.
The specific embodiment
Provided the distribution form of registration device 1 as Fig. 1 and 2, and each steady arm 11 in the registration device 1,12, the four-headed arrow on 13 next doors has shown the direction that it can move freely, promptly have this steady arm of direction indication of four-headed arrow on this direction, to move freely, and this steady arm of direction indication that does not have a double-head arrow can only move in servo-actuated in this direction.
As illustrated in fig. 1 and 2, first steady arm 11 places wing 2 bearing pressure maximum support points, and on X, Y, Z direction motion of translation freely.Second steady arm 12 places the solstics place of wing 2 on directions X, and at Y, Z direction motion of translation freely, is that servo-actuated is moved at directions X.The 3rd steady arm 13 is determined according to the center-of-gravity position of described aircraft components, its position need make described aircraft components connecting portion satisfy requirement of strength, and make each steady arm stressed evenly, described the 3rd steady arm can upwards move for driven at X, Y at Z motion of translation freely upwards.
After described steady arm 1 is finished according to arrangement as depicted in figs. 1 and 2, the motor driving shaft in servomotor and each steady arm 11,12,13 is connected by ball-screw.
Afterwards, on the stronger framing member of described wing 2 rigidity, some measurement points are set.Usually, described measurement point is arranged on aircraft wing front/rear end and the rib.
After point to be measured set, the place beyond erecting yard was provided with respectively as lower device again:
Sensor, it is used for detection and location device 11,12,13 axial location is with respect to steady arm 11,12, the actual displacement amount of 13 origin positions and detect each steady arm stressing conditions in the axial direction in real time, preferably, detect relative shift, detect stressing conditions with force gauge with the grating chi;
Measurement mechanism, it is used to detect the position of each measurement point, and can calculate the posture information of wing 2 according to the data model of wing 2, and the information that will detect and/or calculate output;
Central control unit, it is used for the information that receiving sensor and measurement mechanism detect and/or calculate, and this information shown, and it can produce and send the registration device operating order, especially, described central control unit comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in the described central control unit.In addition, described central control unit also comprises holder and steady arm trajectory planning module, described memory device is used to store the theoretical data model of the theoretical position and the wing of described measurement point, and described steady arm trajectory planning module can be transferred the measurement point theoretical position in the described holder, and according to the detection information of received sensor and measurement mechanism, automatically plan the track of described steady arm, so that described measurement point moves to its theoretical position place;
Control-driven system, it is connected and can and registration device 1 operating order that is received can be converted into the drive signal of motor with described motor, realize the axial location of a plurality of steady arms 11,12,13 and the control of moving velocity by motor with this.In an embodiment of the present invention, described control-driven system can be selected single steady arm and carry out the feeding operation, and can make described selected steady arm carry out feeding with certain speed.
Because the above-mentioned steady arm 11 of controlling, 12,13 device all is positioned at beyond the erecting yard, so operating personal is can low coverage liftoff controls described steady arm 11 in order to allow, 12,13, this position fixing system also is equipped with the hand-held portable terminal, and this portable terminal can be to described control-driven system transmit operation instruction.Described hand-held portable terminal also is provided with touching display screen, operating personal can be with the required operating order that loosens (for example with the mobile 10cm of steady arm 11 at directions X) input on described touching display screen, and this operating order can be input in the described portable terminal by described read-out afterwards.Preferably, described touching display screen can also show the location information of each described steady arm and be subjected to force information.
In brief, in an embodiment of the present invention, the butt joint assembling of wing body is divided into 2 stages, wherein the 1st stage was to wing 2 original position attitude adjustment, it has realized wing is installed to steady arm 11, after 12,13, the spatial coordinates of wing 2 can self adaptation be adjusted to the spatiality that parallels with theoretical pose.The 2nd stage was to wing 2 position adjustment, promptly after the wing attitude is adjusted, wing was moved to the initial position that wing body docks from current location, moved to the target location afterwards again.The concrete grammar step of this wing body butt joint is as follows:
1) by the location information of measurement point on the measurement mechanism detection wing 2, by comparing its mathematical point position, calculates the posture information of wing 2, and calculate the deviation of theoretical pose and attained pose;
2), generate the path of motion of each steady arm by the trajectory planning module, and, adjust it to the parallel state of theoretical pose by the motion of control-driven system drive motor according to the theoretical pose that calculates in the step 1) and the deviation of attained pose.
3) repeating step 1) operation,, in range of tolerable variance, then stop as deviation, otherwise repeating step 2) operation, up to satisfying the tolerance requirement;
4) adjust each measurement point Y to satisfying the tolerance requirement, wing is moved to lower slightly than theoretical position, and to fuselage 3 direction feedings and near fuselage 3, guarantee that each measurement point X is to satisfying the tolerance requirement, then with three steady arms 11,12,13 along Z to synchronous lifting, satisfy the tolerance requirement until each measurement point Z to coordinate.
5) on interface, form the cooresponding bolt hole of bolt a plurality of and wing 2 and fuselage 3;
6) described steady arm is made progress to away from fuselage 3 direction motion preset distances at X, finish the work of hole burr;
7) described steady arm 11 is made progress near fuselage 3 direction motion preset distances at X, finish the insertion again of wing.
Technology contents of the present invention and technical characterstic disclose as above, yet are appreciated that under creative ideas of the present invention, those skilled in the art can make various changes and modifications to said structure, but all belongs to protection scope of the present invention.The description of the foregoing description is exemplary rather than restrictive, and protection scope of the present invention is determined by claim.
Claims (15)
1. a registration device that is used for the butt joint of wing body is characterized in that described registration device comprises three steady arms that are used for aircraft components is carried out posture adjustment, wherein:
First steady arm places wing bearing pressure maximum support point, and on X, Y, Z direction motion of translation freely;
Second steady arm places wing directions X solstics place, and at Y, Z direction motion of translation freely, is driven moving at directions X;
The 3rd steady arm is determined according to the center-of-gravity position of described aircraft components, its position need make described aircraft components connecting portion satisfy requirement of strength, and make each steady arm stressed evenly, described the 3rd steady arm can upwards move for driven at X, Y at Z motion of translation freely upwards.
2. registration device as claimed in claim 1 is characterized in that, the motion of translation of first steady arm, second steady arm and the 3rd steady arm is by motor-driven, and described motor is connected with motor driving shaft in the described steady arm.
3. registration device as claimed in claim 2 is characterized in that, described motor is connected with described steady arm by ball-screw.
4. as claim 2 or 3 described registration devices, it is characterized in that described motor is a servomotor.
5. a position fixing system that is used for the butt joint of wing body is characterized in that, comprising:
As each described registration device among the claim 2-4;
Some measurement points, described measurement point are provided with on the stronger framing member of wing rigidity;
Sensor, its axial location that is used for the detection and location device is with respect to the actual displacement amount of steady arm origin position and detect each steady arm stressing conditions in the axial direction in real time;
Measurement mechanism, it is used to detect the position of each measurement point, and can calculate the posture information of wing according to the data model of wing, and the information that will detect and/or calculate output;
Central control unit, it is used for the information that receiving sensor and measurement mechanism detect and/or calculate, and this information is shown, and it can produce and send the registration device operating order;
Control-driven system, it is connected with described motor and can and the registration device operating order that is received can be converted into the drive signal of servomotor, realizes control to the axial location and the moving velocity of a plurality of steady arms with this by servomotor.
6. position fixing system as claimed in claim 5 is characterized in that described system also comprises the hand-held portable terminal, and this portable terminal can be to described control-driven system transmit operation instruction.
7. position fixing system as claimed in claim 6 is characterized in that, described hand-held portable terminal also comprises touching display screen, and by described touching display screen, the operating order of described registration device is imported in the described portable terminal.
8. position fixing system as claimed in claim 7 is characterized in that, described touching display screen can show the location information of each described steady arm and be subjected to force information.
9. as each described position fixing system among the claim 5-8, it is characterized in that described measurement point is arranged on aircraft wing front/rear end and the rib.
10. as each described position fixing system among the claim 5-8, it is characterized in that described sensor comprises grating chi and force gauge.
11. as each described position fixing system among the claim 5-8, it is characterized in that described central control unit comprises touching display screen, by described touching display screen, the operating order of described registration device is imported in the described central control unit.
12., it is characterized in that described control-driven system can be selected single steady arm and carry out the feeding operation as each described position fixing system among the claim 4-7.
13. position fixing system as claimed in claim 12 is characterized in that, described control-driven system can make described selected steady arm carry out feeding with certain speed.
14., it is characterized in that described central control unit also comprises as each described position fixing system among the claim 5-8:
Holder is used to store the theoretical data model of the theoretical position and the wing of described measurement point.
Steady arm trajectory planning module, it can transfer the measurement point theoretical position in the described holder, and according to the detection information of received sensor and measurement mechanism, plans the track of described steady arm automatically, so that described measurement point moves to its theoretical position place.
15. a method of using position fixing system as claimed in claim 14 to carry out aircraft wing body section butt joint assembling, its step is as follows:
1) by the location information of measurement point on the measurement mechanism detection wing, by comparing its mathematical point position, calculates the posture information of wing, and calculate the deviation of theoretical pose and attained pose;
2), generate the path of motion of each steady arm by the trajectory planning module, and, adjust it to the parallel state of theoretical pose by the motion of control-driven system drive motor according to the theoretical pose that calculates in the step 1) and the deviation of attained pose.
3) repeating step 1) operation,, in range of tolerable variance, then stop as deviation, otherwise repeating step 2) operation, up to satisfying the tolerance requirement;
4) adjust each measurement point Y to satisfying the tolerance requirement, wing is moved to lower slightly, and, guarantee that each measurement point X is to satisfying the tolerance requirement to the feeding of fuselage direction and near fuselage than theoretical position, then with 3 steady arms along Z to synchronous lifting, satisfy the tolerance requirement until each measurement point Z to coordinate.
5) on interface, form the cooresponding bolt hole of bolt a plurality of and wing and fuselage;
6) described steady arm is made progress to away from fuselage direction motion preset distance at X, finish the work of hole burr;
7) described steady arm is made progress near fuselage direction motion preset distance at X, finish the insertion again of wing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010621481.XA CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
| PCT/CN2011/079466 WO2012088924A1 (en) | 2010-12-30 | 2011-09-08 | Positioning device for wing-body docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010621481.XA CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
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| Publication Number | Publication Date |
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| CN102092478A true CN102092478A (en) | 2011-06-15 |
| CN102092478B CN102092478B (en) | 2015-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010621481.XA Active CN102092478B (en) | 2010-12-30 | 2010-12-30 | Positioning device for butting wing body |
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| WO (1) | WO2012088924A1 (en) |
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| CN102092478B (en) | 2015-05-13 |
| WO2012088924A1 (en) | 2012-07-05 |
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