CN107283159A - Large-scale section numerical control posture adjustment Butt Assembling system - Google Patents
Large-scale section numerical control posture adjustment Butt Assembling system Download PDFInfo
- Publication number
- CN107283159A CN107283159A CN201710690754.8A CN201710690754A CN107283159A CN 107283159 A CN107283159 A CN 107283159A CN 201710690754 A CN201710690754 A CN 201710690754A CN 107283159 A CN107283159 A CN 107283159A
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- Prior art keywords
- posture adjustment
- scale section
- numerical control
- assembling system
- butt assembling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
- B23P2700/01—Aircraft parts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The large-scale section numerical control posture adjustment Butt Assembling system of the present invention includes at least a set of horizontal tail docking system；The horizontal tail docking system includes three digital control location devices and horizontal tail support fixed mechanism；Three digital control location devices arrangement triangular in shape, the horizontal tail support fixed mechanism is connected by spherical hinge with three digital control location devices respectively.
Description
Technical field
The present invention relates to Large-Scale Equipment mounting technology field, and in particular to a kind of large-scale section numerical control posture adjustment Butt Assembling system
System.
Background technology
At present, the universal product of brand and model is not fixed also in aircraft, rocket assembly tooling industry, correlation assembling is set
Standby is designed and developed, can only be in no finished product with reference in the case of, and the technical parameter provided according to client and specific requirement are carried out
Brand-new design research and development.
In the prior art, Large Aircraft Components assembling is often using a kind of 12 drivings, the locator formula posture adjustment machine of 6 actuation redundancies
Structure.12 driving locator formula pose_adjusters compensate for the small deficiency of traditional serial-parallel mirror mechanism working space, but the pose_adjuster
Motor number is excessive, and whole pose_adjuster needs to install 12 servomotors, and coordinated signals require high, and control system is complicated,
Cause that maintenance cost height is installed.During practical engineering application, fuselage pose is often nearer from its object pose, and pose adjustment amount is very
Small, during posture adjustment, singular point is not present in pose_adjuster；And posture adjustment process is slow, mutation is not present in kinetic curve.Cause
This, there is more driving and waste in 12 driving locator formula pose_adjusters, without the advantage for utilizing redundancy actuating mechanism well.
Chinese patent application 201510928666.8 describes a kind of " fuselage automatic-posture-adjustment of the irredundant driving of six degree of freedom
Set under mechanism ", the connecting bracket for carrying Large Aircraft Components in 4 locators, these locators and arrange 6 actively drives
Moving axis, type of drive is " 3-2-1-0 ", does not install the axle of servomotor and reductor in first three locator additional for free movement
Axle, three axles of four locater are all free movement axle, come from the parallel principle that 4 locators and bracket are constituted
See, this locator is redundancy, is not worked, structural redundancy produces excessive association between being easily caused four strong points of bracket
Adjust internal force, the big component attitude adjusting Butt Assembling occasion of the unsuitable wing of the patent formula..
The content of the invention
It is an object of the invention to provide a kind of large-scale section numerical control posture adjustment Butt Assembling system, it is intended to solves large-scale section
Pose adjustment mechanism redundant drive is excessive in assembling process, and coordinated signals require high, the problem of control system is complicated.
To achieve the above object, the present invention provides a kind of large-scale section numerical control posture adjustment Butt Assembling system, its feature
It is, including at least a set of horizontal tail docking system；The horizontal tail docking system includes three digital control location devices and horizontal tail support is solid
Determine mechanism；Three digital control location devices arrangement triangular in shape, the horizontal tail support fixed mechanism passes through spherical hinge and institute respectively
State three digital control location device connections.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, three digital control location devices use three right angles
The POGO posts of reference axis serial configured, and the driving shaft layout type of three digital control location devices is " 3-2-1 ", i.e. a number
Three all drive shafts of axle of locator are controlled, another digital control location device there are two axles to be drive shaft, the 3rd numerical control positioning
Device only one of which axle is drive shaft.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, horizontal tail support fixed mechanism includes lifting apparatus, soft
Property clamping device and and servomotor, the flexible holding device is connected by hinge with the lifting apparatus；The servo electricity
Machine is connected with the flexible holding device, for driving the flexible holding device to move.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, the flexible holding device includes parallelogram
Mechanism and flexible clamping head；The parallel-crank mechanism and hinge connection, the flexible clamping head and the parallelogram
Mechanism is connected；The servomotor is connected with the parallel-crank mechanism.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, the top of the flexible clamping head installs flexible
Compliance device and pressure sensor.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, the lifting apparatus includes lifting plate and crossbeam, institute
State and lift the two ends of plate and be respectively provided with crossbeam described in one, the crossbeam is fixed on described lift on plate；The two ends of the crossbeam are respectively set
There is flexible holding device described in one.
Above-mentioned large-scale section numerical control posture adjustment Butt Assembling system, wherein, the plate of lifting is ladder plane plate, trapezoidal flat
It is each on two parallel edges edges of panel that crossbeam described in one is set.
Compared with prior art, technology beneficial effect of the invention is：
1st, three locators support the parallel institution that fixed mechanism is collectively constituted with the horizontal tail, possess 6 active driving shafts, 3
Individual free driven shaft, it was found from being analyzed on mechanism principle, the parallel institution system is the active drive reality of proper drive system, i.e., 6
6 Rigid Body In Space positions of existing horizontal tail and the adjustment of the posture free degree, proper drive system mechanism kinematics are resolved and motion control
Program equal simple possible；
2nd, three locators are the combinations of most simple possible because many locators or can increase structural redundancy or
Person understands actuation redundancy, and former structure redundancy produces excessive coordination internal force between being easily caused four strong points of bracket, and the latter drives
Dynamic redundancy can bring about the problem of coordinated signals requirement is high；Then 2 points of one side can not support large-scale section to a few locator,
On the other hand two locators can not realize horizontal tail six degree of freedom posture adjustment.
Brief description of the drawings
The large-scale section numerical control posture adjustment Butt Assembling system of the present invention is provided by following embodiment and accompanying drawing.
Fig. 1 is the structural representation of the large-scale section numerical control posture adjustment Butt Assembling system of present pre-ferred embodiments.
Fig. 2 is the structural representation of horizontal tail support fixed mechanism in present pre-ferred embodiments.
Fig. 3 is the structural representation of lifting apparatus in present pre-ferred embodiments.
Fig. 4 is the structural representation of flexible holding device in present pre-ferred embodiments.
Embodiment
Further detailed is made to the large-scale section numerical control posture adjustment Butt Assembling system of the present invention below with reference to Fig. 1~Fig. 4
Thin description.
Fig. 1 show the structural representation of the large-scale section numerical control posture adjustment Butt Assembling system of present pre-ferred embodiments.
The large-scale section numerical control posture adjustment Butt Assembling system includes at least a set of horizontal tail docking system 1.Referring to Fig. 1, institute
Stating horizontal tail docking system 1 includes three digital control location devices 2 and horizontal tail support fixed mechanism 3；Three digital control location devices 2 are in three
Angular arrangement, the horizontal tail support fixed mechanism 3 is connected by spherical hinge 4 with three digital control location devices 2 respectively.
In the present embodiment, the large-scale section numerical control posture adjustment Butt Assembling system is used to dock wing for aircraft, in aircraft
Both sides respectively set the large-scale section numerical control posture adjustment Butt Assembling system of a set of horizontal tail docking system 1, i.e. the present embodiment to include two sets
Horizontal tail docking system 1, is symmetrically distributed in aircraft both sides.Three digital control location devices 2 are distributed in three summits position of same triangle
Put.End of the horizontal tail support fixed mechanism 3 by three spherical hinges 4 respectively with three digital control location devices 2 is hinged.
Three digital control location devices 2 use the POGO posts of three rectangular axes serial configureds, and three numerical controls
The driving shaft layout type of locator 2 is three all drive shafts of axle of the digital control location device of " 3-2-1 ", i.e., one, another
Digital control location device has two axles（Y-direction and Z-direction）For drive shaft, the 3rd digital control location device only one of which axle（Z-direction）For drive shaft,
The six-freedom degree pose adjustment of large-scale section can be realized just by being somebody's turn to do " 3-2-1 " driving shaft layout type, control simple possible.Coordinate
System's definition is as shown in Figure 1.
Fig. 2 show the structural representation that horizontal tail in present pre-ferred embodiments supports fixed mechanism.
The horizontal tail support fixed mechanism includes lifting apparatus 5, flexible holding device 6 and servomotor 10, the flexibility
Clamping device 6 is connected by hinge 7 with the lifting apparatus 5；The servomotor 10 is connected with the flexible holding device 6,
For driving the flexible holding device 6 to move.The lifting apparatus 5 by three spherical hinges 4 respectively with three numerical controls
The end of locator 2 is hinged.
In the present embodiment, the flexible holding device 6 is four, and four flexible holding devices 6 pass through a hinge 7
It is connected with the lifting apparatus 5.
Fig. 3 show the structural representation of lifting apparatus in present pre-ferred embodiments.
Referring to Fig. 3, the lifting apparatus 5 includes lifting plate 51 and crossbeam 52, and the two ends for lifting plate 51 are respectively provided with one
The crossbeam 52, the crossbeam 52 is fixed on described lift on plate 51；The two ends of the crossbeam 52 are respectively provided with flexible folder described in one
Device 6 is held, the flexible holding device 6 is connected by hinge 7 with the crossbeam 52；The plate 51 of lifting passes through three spherical hinges
4 end respectively with three digital control location devices 2 is hinged.
In the present embodiment, the plate 51 of lifting respectively sets for ladder plane plate on two parallel edges edges of ladder plane plate
Put crossbeam 52 described in one.Because the large-scale section numerical control posture adjustment Butt Assembling system of the present embodiment is used to dock wing for aircraft,
According to wing appearance profile feature, the shape for lifting plate 51 is designed as outside ladder plane plate, the lifting apparatus 5 and wing
Shape profile matches.If the large-scale section numerical control posture adjustment Butt Assembling system is used to dock other large-scale sections, described to lift
Plate 51 may be designed as other shapes, match with the appearance profile for the large-scale section docked.The upper surface of the crossbeam 52 is provided with
Arch curved surface 53, the profile of the wing with being supported on matches, and can more securely support the large-scale section of docking.
Fig. 4 show the structural representation of flexible holding device in present pre-ferred embodiments.
Referring to Fig. 4, the flexible holding device includes parallel-crank mechanism 8 and flexible clamping first 9；Parallel four side
Shape mechanism 8 is connected with hinge 7, and the flexible clamping first 9 is connected with the parallel-crank mechanism 8；The servomotor 10 with
The parallel-crank mechanism 8 is connected, and is moved for driving parallel-crank mechanism 8 during pose adjustment, is made the flexibility
Clamping device can consolidate and clamp wing.
The top of the flexible clamping first 9（The position contacted with large-scale section）Elastic compliant device 11 and pressure are installed
Sensor 12.The elastic compliant device is that the clamped large-scale section surface of protection will not be destroyed because of rigid contact, pressure
Sensor is in order to feed back chucking power, or for the size of monitoring force, or to do closed loop feedback to control chucking power.
The horizontal tail docking system 1 passes through 6 drive shafts（Driving shaft）Motion realize the space 6DOF pose of wing
Adjustment.To realize wing moving or rotating along some direction, then need to calculate 6 drivings by parallel institution Inverse Kinematics Solution
The drive displacement input quantity of axle, controls 6 drive shaft synchronous coordination motions to realize that the pose of wing is adjusted or right by controller
Connect motion.The computing of parallel institution Inverse Kinematics Solution and 6 drive shaft synchronizations being related to during the adjustment of the pose of horizontal tail docking system 1
Coordinated movement of various economic factors control method prior art has mature technology, and the present invention does not elaborate to this.
Claims (7)
1. large-scale section numerical control posture adjustment Butt Assembling system, it is characterised in that including at least a set of horizontal tail docking system；It is described flat
Tail docking system includes three digital control location devices and horizontal tail support fixed mechanism；Three digital control location devices row triangular in shape
Cloth, the horizontal tail support fixed mechanism is connected by spherical hinge with three digital control location devices respectively.
2. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 1, it is characterised in that three numerical controls are determined
Position device uses the POGO posts of three rectangular axes serial configureds, and the driving shaft layout type of three digital control location devices is
Three all drive shafts of axle of the digital control location device of " 3-2-1 ", i.e., one, another digital control location device has two axles to be driving
Axle, the 3rd digital control location device only one of which axle is drive shaft.
3. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 1, it is characterised in that the fixed machine of horizontal tail support
Structure include lifting apparatus, flexible holding device and and servomotor, the flexible holding device is by hinge with described lifting dress
Put connection；The servomotor is connected with the flexible holding device, for driving the flexible holding device to move.
4. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 3, it is characterised in that the flexible clamping dress
Put including parallel-crank mechanism and flexible clamping head；The parallel-crank mechanism and hinge connection, the flexible clamping head
It is connected with the parallel-crank mechanism；The servomotor is connected with the parallel-crank mechanism.
5. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 4, it is characterised in that the flexible clamping head
Top elastic compliant device and pressure sensor are installed.
6. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 3, it is characterised in that the lifting apparatus bag
Include and lift plate and crossbeam, the two ends for lifting plate are respectively provided with crossbeam described in one, the crossbeam is fixed on described lift on plate；Institute
The two ends for stating crossbeam are respectively provided with flexible holding device described in one.
7. large-scale section numerical control posture adjustment Butt Assembling system as claimed in claim 6, it is characterised in that the plate of lifting is ladder
Shape surface plate, it is each on two parallel edges edges of ladder plane plate that crossbeam described in one is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690754.8A CN107283159A (en) | 2017-08-14 | 2017-08-14 | Large-scale section numerical control posture adjustment Butt Assembling system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710690754.8A CN107283159A (en) | 2017-08-14 | 2017-08-14 | Large-scale section numerical control posture adjustment Butt Assembling system |
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| CN107283159A true CN107283159A (en) | 2017-10-24 |
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ID=60105962
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| CN201710690754.8A Pending CN107283159A (en) | 2017-08-14 | 2017-08-14 | Large-scale section numerical control posture adjustment Butt Assembling system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984203A (en) * | 2017-12-06 | 2018-05-04 | 上海交通大学 | Have the function of to cooperate with posture adjustment, collision prevention and the Automated assembly equipment tightened |
| CN107984202A (en) * | 2017-12-06 | 2018-05-04 | 上海交通大学 | There is the Automated assembly device of accurate posture adjustment and screw-driving |
| CN108000491A (en) * | 2017-12-07 | 2018-05-08 | 上海航天设备制造总厂有限公司 | For matching the posture adjustment equipment of docking between big component |
| CN110039291A (en) * | 2019-05-07 | 2019-07-23 | 燕山大学 | Large-scale mobile radar high position automatic butt platform |
| CN111322908A (en) * | 2020-03-05 | 2020-06-23 | 北京中科宇航技术有限公司 | Intelligent docking vehicle |
| CN111551142A (en) * | 2020-05-22 | 2020-08-18 | 西安飞机工业（集团）有限责任公司 | Positioning method of three-coordinate position-following serial positioner |
| CN111977018A (en) * | 2020-07-29 | 2020-11-24 | 西安飞机工业（集团）有限责任公司 | Supporting method for airplane body component assembly posture adjustment positioning |
| CN112045407A (en) * | 2020-07-10 | 2020-12-08 | 黑龙江省建筑安装集团有限公司 | Pipe section alignment device for electromechanical installation engineering construction |
| EP4032814A1 (en) * | 2021-01-26 | 2022-07-27 | The Boeing Company | Object lifting system and method |
| CN115320880A (en) * | 2021-05-10 | 2022-11-11 | 浙江大学 | Automatic attitude-adjusting docking method for outer wing of airplane |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984203A (en) * | 2017-12-06 | 2018-05-04 | 上海交通大学 | Have the function of to cooperate with posture adjustment, collision prevention and the Automated assembly equipment tightened |
| CN107984202A (en) * | 2017-12-06 | 2018-05-04 | 上海交通大学 | There is the Automated assembly device of accurate posture adjustment and screw-driving |
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| CN107984203B (en) * | 2017-12-06 | 2019-05-28 | 上海交通大学 | With collaboration posture adjustment, collision prevention and the Automated assembly equipment for tightening function |
| CN108000491A (en) * | 2017-12-07 | 2018-05-08 | 上海航天设备制造总厂有限公司 | For matching the posture adjustment equipment of docking between big component |
| CN110039291B (en) * | 2019-05-07 | 2020-02-14 | 燕山大学 | High-position automatic butt-joint platform for large-scale maneuvering radar |
| CN110039291A (en) * | 2019-05-07 | 2019-07-23 | 燕山大学 | Large-scale mobile radar high position automatic butt platform |
| CN111322908A (en) * | 2020-03-05 | 2020-06-23 | 北京中科宇航技术有限公司 | Intelligent docking vehicle |
| CN111322908B (en) * | 2020-03-05 | 2022-04-29 | 北京中科宇航技术有限公司 | Intelligent docking vehicle |
| CN111551142A (en) * | 2020-05-22 | 2020-08-18 | 西安飞机工业（集团）有限责任公司 | Positioning method of three-coordinate position-following serial positioner |
| CN112045407A (en) * | 2020-07-10 | 2020-12-08 | 黑龙江省建筑安装集团有限公司 | Pipe section alignment device for electromechanical installation engineering construction |
| CN111977018A (en) * | 2020-07-29 | 2020-11-24 | 西安飞机工业（集团）有限责任公司 | Supporting method for airplane body component assembly posture adjustment positioning |
| EP4032814A1 (en) * | 2021-01-26 | 2022-07-27 | The Boeing Company | Object lifting system and method |
| US11772822B2 (en) | 2021-01-26 | 2023-10-03 | The Boeing Company | Object lifting system and method |
| CN115320880A (en) * | 2021-05-10 | 2022-11-11 | 浙江大学 | Automatic attitude-adjusting docking method for outer wing of airplane |
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