CN114800562A - Automatic assembly robot capable of extending into wing box and working method thereof - Google Patents
Automatic assembly robot capable of extending into wing box and working method thereof Download PDFInfo
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- CN114800562A CN114800562A CN202210473278.5A CN202210473278A CN114800562A CN 114800562 A CN114800562 A CN 114800562A CN 202210473278 A CN202210473278 A CN 202210473278A CN 114800562 A CN114800562 A CN 114800562A
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- connecting rod
- arm connecting
- belt
- upper arm
- wing box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic assembly robot capable of extending into a wing box and a working method thereof. The existing assembly robot is difficult to mount fasteners in a wing box of an airplane with a narrow space. The assembly robot comprises a base, a height adjusting assembly, a cross beam and a mechanical arm. The inner end of the cross beam and the base form a sliding pair which slides along the vertical direction. The crossbeam is driven by the height adjusting assembly to lift. The mechanical arm comprises a large rotating shaft, a first driving assembly, a large rotating connecting rod, a second driving assembly, an upper arm connecting rod, a third driving assembly, a lower arm connecting rod, a fourth driving assembly, a hand connecting rod, a fifth driving assembly and a tail end assembling tool. According to the invention, the big rotating shaft capable of revolving around the horizontal shaft is arranged at the head end of the mechanical arm, so that the mechanical arm can extend downwards into the fabrication hole and upwards into the fabrication hole, and the orientation of the working part of the tail end assembling tool is kept unchanged; and then the fasteners above and below the fabrication hole are installed under the condition that the position of the robot is not changed.
Description
Technical Field
The invention belongs to the technical field of aircraft wing box production equipment, and particularly relates to an automatic assembly robot capable of extending into a wing box.
Background
In the case of aircraft wing box components, fasteners such as nuts need to be installed inside in order to maintain a smooth and flat surface. Along the wingspan direction, fabrication holes are usually formed in the side face of the wing box at intervals, so that the arms of workers can conveniently stretch into the wing box to operate. Because the wing box inner space is narrow and small, this kind of assembly operation mainly adopts manual mode to accomplish at present. However, the assembly operation of the fasteners in the airplane wing box has the disadvantages of large workload, repeated and boring work, large labor consumption, low efficiency and low economic benefit, and the automation is urgently needed to be realized. The robot is undoubtedly a preferred scheme for fastening and assembling, however, in SCARA and 6R serial industrial robots and the like in the current market, the length of the large arm and the small arm is large, the robot is mainly suitable for external assembling operation, and is not suitable for narrow internal assembling. Based on this, it is urgently needed to design a robot and a method thereof which can be assembled into the wing box.
Disclosure of Invention
The invention aims to provide an automatic assembly robot capable of extending into a wing box.
The invention relates to an automatic assembly robot capable of extending into a wing box. The inner end of the cross beam and the base form a sliding pair which slides along the vertical direction. The crossbeam is driven by the height adjusting assembly to lift.
The mechanical arm comprises a large rotating shaft, a large rotating connecting rod, a first driving assembly, an upper arm connecting rod, a second driving assembly, a lower arm connecting rod, a third driving assembly, a hand connecting rod, a fourth driving assembly and a tail end assembling tool. A large rotary shaft capable of 360 DEG revolution is supported at the outer end of the cross beam. The axis of the big revolving shaft is horizontally arranged. The outer end of the big rotary shaft is fixed with the big rotary connecting rod. The inner end of the upper arm connecting rod and the outer end of the large rotary connecting rod form a first rotary pair. The inner end of the lower arm connecting rod and the outer end of the upper arm connecting rod form a second revolute pair. The inner end of the hand connecting rod and the outer end of the lower arm connecting rod form a third revolute pair. The common axes of the first rotating pair, the second rotating pair and the third rotating pair are parallel to each other and are perpendicular to the axis of the large rotating shaft. The tail end assembling tool is installed on the hand connecting rod and used for installing the fastening piece. The large rotating shaft, the large rotating connecting rod, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod can rotate under the driving of the power element, so that the tail end assembling tool 24 can extend into the interior of the aircraft wing box through the fabrication hole to work. The rotating radiuses of the upper arm connecting rod and the lower arm connecting rod are both 100-150 mm; in a working state, the axis of the large rotating shaft is aligned with a process hole of the aircraft wing box, and the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod all extend into the aircraft wing box through the process hole; under the state that the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod face opposite directions, the large rotating shaft can drive the hand connecting rod to rotate in the wing box of the airplane.
Preferably, the upper arm link and the lower arm link have the same structure and comprise an inner end block, an intermediate inclined part and an outer end block which are integrally formed. The inner ends of the inner end part block and the outer end part block are respectively connected with the two ends of the middle inclined part. The intermediate bevel offsets the inner end piece and the outer end piece from each other. And one side of the middle inclined part is provided with a motor mounting groove for mounting a motor. And a belt transmission assembly mounting groove is formed in the other side of the middle inclined part and used for mounting a belt transmission assembly. Two first ribbed slabs are formed on two sides of the motor mounting groove. Two second ribbed plates are formed on two sides of the belt transmission assembly mounting groove. The outer end block on the upper arm connecting rod is positioned on the side of the inner end block close to the large rotary connecting rod. The outer end block on the lower arm link is located on the side of the inner end block that is closer to the upper arm link.
Preferably, the big revolving shaft is driven to rotate by the first driving assembly. The first drive assembly includes a second belt drive assembly and a second motor. The second belt drive assembly includes a second pulley and a second timing belt. One of the second pulleys is fixed on the large rotating shaft, and the other second pulley is supported at the outer end of the cross beam and driven by a second motor. The two second belt wheels are connected through a second synchronous belt. The upper arm link is driven to rotate by the second drive assembly. The second drive assembly includes a third belt drive assembly and a third motor. The third belt drive assembly includes a third pulley and a third timing belt. One third belt wheel is fixed at the inner end of the upper arm connecting rod, and the other third belt wheel is supported on the large rotary connecting rod and driven by a third motor. And the two third belt wheels are connected through a third synchronous belt. The third motor is fixed on the large rotary connecting rod. The lower arm link is driven to rotate by a third drive assembly. The third drive assembly includes a fourth belt drive assembly and a fourth motor. The fourth belt drive assembly includes a fourth pulley and a fourth synchronous belt. One of the fourth pulleys is fixed at the inner end of the lower arm connecting rod, and the other fourth pulley is supported on the upper arm connecting rod and driven by a fourth motor. And the two fourth belt wheels are connected through a fourth synchronous belt. The fourth motor is fixed on the upper arm connecting rod. The hand connecting rod is driven to rotate by the fourth driving component. The fourth drive assembly includes a fifth belt drive assembly and a fifth motor. The fifth belt drive assembly includes a fifth pulley and a fifth synchronous belt. One of the fifth pulleys is fixed to the inner end of the hand link, and the other fifth pulley is supported on the lower arm link and driven by a fifth motor. And the two fifth belt wheels are connected through a fifth synchronous belt. The fifth motor is fixed on the upper arm connecting rod.
Preferably, the base comprises a caster, a chassis, a vertical frame, a reinforcing frame and a guide rail. The bottom of the chassis is provided with a plurality of casters. One or more of the casters is a universal wheel. The bottom end of the upright frame which is vertically arranged is fixed with the tail end of the top of the chassis. Two reinforcing frames are respectively arranged at two sides of the top of the chassis. The two ends of the reinforcing frame are respectively fixed with the chassis and the upright frame. Two guide rails which are vertically arranged are fixed on the inner side of the vertical frame. The inner end of the cross beam is respectively connected with the two guide rails in a sliding way through the two sliding blocks.
Preferably, the height adjustment assembly includes a first motor and a first belt drive assembly. The first belt drive assembly includes a first pulley and a first timing belt. The two first belt wheels are respectively supported at the top and the bottom of the upright frame and are connected through a first synchronous belt. The lower first belt wheel is driven by a first motor to rotate. The first synchronous belt is fixed with the inner end of the cross beam.
Preferably, the outer end of the cross beam is aligned with the head end of the chassis. The crossbeam includes interior beam panel, first side beam panel, second side beam panel, intermediate bottom, end panel, first ear piece and second ear piece. The first side beam plate and the second side beam plate which are arranged at intervals and parallel to each other are welded and fixed with the outer side surface of the inner beam plate. The two sides of the middle partition board are integrally formed with first lug blocks. Two first ear pieces are respectively embedded into first clamping grooves on the first side beam plate and the second side beam plate. Both sides of the end panel are integrally formed with second lug blocks. And the two second lug blocks are respectively embedded into the second clamping grooves on the first side beam plate and the second side beam plate. The intermediate partition is positioned between the inner beam plate and the end plate. The slider is installed on the inner beam plate. The large rotating shaft is arranged between the middle partition plate and the end plate. The first drive assembly is mounted on the intermediate deck.
Preferably, an automated assembly robot extendable into a wing box further comprises a measurement module. The measuring module comprises a measuring bracket, an ultrasonic sensor and a camera. The measuring support is fixed at the outer end of the cross beam and arranged side by side with the large rotary connecting rod. The camera and a plurality of ultrasonic sensor all install the outer end at the measurement support.
The working method of the automatic assembling robot capable of extending into the wing box comprises the following steps:
step one, rotating a large rotating shaft, an upper arm connecting rod, a lower arm connecting rod and a hand connecting rod to enable the hand connecting rod to present a vertical or inclined posture facing downwards, wherein a working part of a tail end assembling tool faces to one side close to a cross beam;
secondly, the height adjusting assembly drives the cross beam to ascend and descend, so that the outer end of the tail end assembling tool is aligned with a process hole in the aircraft wing box; then, the tail end assembling tool obliquely penetrates through the technical hole and extends into the aircraft wing box through the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod;
thirdly, through the lifting of the cross beam, the rotation of the large rotating shaft, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod, the working part of the tail end assembling tool is sequentially moved to the positions of all fasteners to be installed below the technical hole from bottom to top, and the fasteners are installed;
step four, the outer ends of the upper arm connecting rod and the lower arm connecting rod are inclined or vertically upward, and the outer end of the hand connecting rod is inclined or vertically downward through the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod;
and step five, rotating the large rotating shaft to change the outer end of the hand connecting rod from downward to upward.
And step six, through the lifting of the cross beam, the rotation of the large rotating shaft, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod, the working part of the tail end assembling tool is sequentially moved to the positions of all fasteners to be installed above the process hole from bottom to top, and the fasteners are assembled.
And seventhly, the mechanical arm is withdrawn from the technical hole to the outside of the aircraft wing box through the lifting motion of the cross beam and the rotation of the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod.
The invention has the beneficial effects that:
1. according to the invention, the big rotating shaft capable of revolving around the horizontal shaft is arranged at the head end of the mechanical arm, so that the mechanical arm can extend downwards into the fabrication hole and upwards into the fabrication hole, and the orientation of the working part of the tail end assembling tool is kept unchanged; and then the installation of the internal fasteners above and below the fabrication hole is sequentially realized under the condition that the position of the robot is not changed. Simultaneously, the length of upper arm connecting rod and underarm connecting rod sets up to 100mm ~ 150mm, makes it rotate wantonly in the wing box, through rotating upper arm connecting rod, underarm connecting rod and hand connecting rod to the overlap state for the hand connecting rod reduces along with big revolving axle pivoted scope, thereby makes the hand connecting rod can accomplish in the wing box and overturn from top to bottom, has saved the repeated process of business turn over wing box many times of arm, has improved the installation effectiveness of fastener.
2. According to the invention, the S-shaped upper arm connecting rod and the S-shaped lower arm connecting rod are used, so that the power elements on the mechanical arm are more compactly installed, the structural strength is ensured, the transverse size of the mechanical arm is reduced, and the mechanical arm is more compact in the wing box.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a portion of the robot arm of the present invention;
FIG. 3a is a schematic side view of the present invention;
FIG. 3b is a schematic diagram of the front working state of the present invention;
FIG. 4 is a schematic structural view of a cross beam according to the present invention;
FIG. 5 is a schematic view of the construction of the first drive assembly and the large pivot shaft of the present invention;
FIG. 6a is a perspective view of one side of the upper arm link or the second drive assembly of the present invention;
FIG. 6b is a perspective view of the other side of the upper arm link or second drive assembly of the present invention;
FIG. 7 is a schematic view of the process of installing a fastener according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3a and 3b, an automated assembly robot that can extend into a wing box includes a base, a height adjustment assembly, a cross-beam 8, a measurement module, and a robotic arm. The height adjustment assembly is used for adjusting the height of the cross beam 8. The measuring module and the mechanical arm are arranged on the cross beam 8 to install the fasteners in the aircraft wing box.
The base comprises a caster 1, a chassis 2, a vertical frame 3, a reinforcing frame 4 and a guide rail. More than three casters 1 are mounted at different positions on the bottom of the chassis 2. One or more of the caster wheels 1 is a universal wheel. The bottom end of the upright frame 3 which is vertically arranged is fixed with the tail end of the top of the chassis 2. Two reinforcing frames 4 are respectively installed at both sides of the top of the chassis 2. Two ends of the reinforcing frame 4 are respectively fixed with the chassis 2 and the upright frame 3. Two guide rails which are vertically arranged are fixed on the inner side of the vertical frame 3. The inner end of the beam 8 is respectively connected with the two guide rails in a sliding way through the two sliding blocks 7. The height adjustment assembly includes a first motor 5 and a first belt drive assembly 6. The first belt drive assembly 6 comprises a first pulley and a first timing belt. The two first pulleys are respectively supported at the top and the bottom of the upright frame 3 and are connected through a first synchronous belt. The lower first pulley is driven in rotation by a first motor 5. The first synchronization strap is fixed to the inner end of the cross member 8.
As shown in fig. 1, 2, 4 and 5, the robotic arm includes a macro-swivel shaft 11, a macro-swivel link 14, a first drive assembly, an upper arm link 17, a second drive assembly, a lower arm link 20, a third drive assembly, a hand link 23, a fourth drive assembly and a tip assembly tool 24. The large pivot shaft 11 is supported at the outer end of the cross member 8. The axis of the large revolving shaft 11 is horizontal and perpendicular to the width direction of the cross beam 8. The outer end of the large rotating shaft 11 is fixed with a mounting plate 111. The inner end of the large slewing link 14 is fixed to the mounting plate 111. The inner end of the upper arm link 17 and the outer end of the large slewing link 14 constitute a first revolute pair. The inner end of the lower arm link 20 and the outer end of the upper arm link 17 form a second revolute pair. The inner end of the hand link 23 and the outer end of the lower arm link 20 constitute a third revolute pair. The common axes of the first revolute pair, the second revolute pair and the third revolute pair are parallel to each other and perpendicular to the axis of the large revolving shaft 11.
The end fitting tool 24 is mounted on the hand link 23. The end of the end fitting tool 24 is provided with a power nut installer for performing the installation operation of the fastener. The large rotary shaft 11, the large rotary connecting rod 14, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23 can rotate under the driving of the power element, so that the tail end assembling tool 24 can flexibly extend into an assembling position in the interior of the aircraft wing box 25 for working. Because the big revolving shaft 11 can rotate 360 degrees, the mechanical arm can rotate freely around the horizontal axis, so that the tail end assembling tool 24 can not only extend downwards into the wing box 25, but also extend upwards into the wing box 25, and after the outer end orientations of the upper arm connecting rod 17 and the lower arm connecting rod 20 and the outer end orientation of the hand connecting rod 23 are adjusted to be opposite, the vertical orientation switching of the hand connecting rod 23 is directly completed in the wing box 25, and the mechanical arm can directly complete the fastener installation on the upper side and the lower side of the access hole after extending into the wing box once.
The rotating radiuses (the distance between the rotating axes at two ends) of the upper arm connecting rod 17 and the lower arm connecting rod 20 are both 100-150 mm; the length of the hand connecting rod 23 is 300 mm-450 mm; the upper arm connecting rod 17 and the lower arm connecting rod 20 are set to be small in length, so that the upper arm connecting rod 17 and the lower arm connecting rod 20 can directly adjust the vertical direction through self rotation in the wing box, the axis of the large rotating shaft 11 is aligned with the middle position of the hand connecting rod 23, the coverage range of the hand connecting rod 23 is reduced when the large rotating shaft 11 rotates, and the 180-degree adjustment of the direction of the hand connecting rod 23 in the wing box is realized.
As shown in fig. 6a and 6b, the upper and lower arm links are identical in construction, each being S-shaped and including an inner end block 171, an intermediate inclined portion, and an outer end block 174 which are integrally formed. The inner ends of the inner end block 171 and the outer end block 174 are connected to both ends of the intermediate inclined portion, respectively. The intermediate inclined portion offsets the inner end piece 171 and the outer end piece 174 from each other. A motor mounting groove 173 is formed at one side of the middle inclined portion for mounting a motor. A belt drive assembly mounting groove 176 is provided on the other side of the intermediate inclined portion for mounting a belt drive assembly. Two first ribs 172 are formed at both sides of the motor mounting groove 173. Two second ribs 175 are formed at both sides of the belt driving assembly installation groove 176. The outer end block 174 on the upper arm link is located on the side of the inner end block 171 that is closer to the large swing link 14. The outer end block 174 on the lower arm link is located on the side of the inner end block 171 adjacent the upper arm link. The upper arm connecting rod and the lower arm connecting rod which are S-shaped respectively install the motor and the belt transmission assembly on two sides of the middle inclined part, the whole structure is very compact, the upper arm connecting rod, the lower arm connecting rod and the hand connecting rod are effectively overlapped and combined in the transverse direction, the transverse space is saved, and the mechanical arm is more flexible in the compact space inside the aircraft wing box 25. The first rib 172 and the second rib 175 can increase the rigidity of the structure while each forming an installation space.
The distance between the farthest positions on the opposite sides of the upper arm connecting rod 17 and the lower arm connecting rod 20 in the direction of the rotating axis is less than 100 mm; the existing internal structure design of the wing box can meet the requirement that the arms of a person extend into the wing box to install fasteners; the widest part of the arm of the installer is mostly at the elbow position (the width is mostly 100 mm-150 mm); thus. The maximum width of the mechanical arm is set to be less than 100mm, so that the mechanical arm can be ensured to complete the installation of fasteners at all positions in the wing box.
The large revolving shaft 11 is driven to rotate by the first driving assembly. The first drive assembly comprises a second belt drive assembly 9 and a second motor 10. The second belt drive assembly includes a second pulley and a second timing belt. One of the second pulleys is fixed to the large pivot shaft 11 and the other is supported at the outer end of the cross member 8 and driven by a second motor 10. The two second belt wheels are connected through a second synchronous belt.
The upper arm link 17 is driven to rotate by a second drive assembly. The second drive assembly includes a third belt drive assembly 16 and a third motor 15. The third belt drive assembly includes a third pulley and a third timing belt. One of the third pulleys is fixed to the inner end of the upper arm link 17, and the other is supported on the large slewing link 14 and driven by a third motor 15. And the two third belt wheels are connected through a third synchronous belt. The third motor 15 is fixed on the large swing link 14.
The hand link 23 is driven to rotate by the fourth drive assembly. The fourth drive assembly comprises a fifth belt drive assembly 22 and a fifth electric machine 21. The fifth belt drive assembly includes a fifth pulley and a fifth synchronous belt. One of the fifth pulleys is fixed to the inner end of the hand link 23, and the other fifth pulley is supported on the lower arm link 20 and driven by a fifth motor 21. And the two fifth belt wheels are connected through a fifth synchronous belt. The fifth motor 21 is fixed to the upper arm link 17.
As shown in fig. 4, the outer end of the cross beam 8 is aligned with the head end of the chassis 2. A trundle 1 is arranged under the head end of the chassis 2; the mullions are mounted aft (weight G1) and connected to the front arm modules by transoms, effectively balancing the front weight (G2). The caster 1 right below the head end of the chassis 2 is called a front caster; the front caster is a supporting point or a restraining point; the torque M1 of the gravity G1 behind the front caster to the position of the front caster is greater than the torque M2 of the gravity G2 of the robotic arm to the position of the front caster; so that the automatic assembly robot can keep stable in the working process. The fastening torque load (T) (3N · m) generated by the mounting of the fastener is balanced by the weight of the chassis 2 in the width direction.
Including an inner beam panel 81, a first side beam panel 82, a second side beam panel 83, a center spacer 84, an end panel 85, a first ear piece 841 and a second ear piece 851. The first side beam plate 82 and the second side beam plate 83 which are arranged at intervals and are parallel to each other are welded and fixed with the outer side face of the inner beam plate 81. The middle partition 84 is integrally formed with first lugs 841 on both sides thereof. Two first lugs 841 are respectively embedded into first clamping grooves on the first side beam plate 82 and the second side beam plate 83, so that the fixing of the middle partition plate 84 and the first side beam plate 82 and the second side beam plate 83 is realized. The end panel 85 is integrally formed with a second ear piece 851 on both sides. Two second ear pieces 851 are respectively embedded in the second clamping grooves on the first side beam plate 82 and the second side beam plate 83 to fix the fixed end panel 85 with the first side beam plate 82 and the second side beam plate 83. The intermediate bulkhead 84 is located between the inner beam panel 81 and the end panel 85. The slider 7 is mounted on the inner beam plate 81. The large revolving shaft 11 is installed between the intermediate bulkhead 84 and the end plate 85. The first drive assembly is mounted on the intermediate bulkhead 84. And the first side beam plate and the second side beam plate are both subjected to hollow-out treatment, so that the weight is reduced by 30% on the premise of ensuring the rigidity.
The measurement module comprises a measurement mount, an ultrasonic sensor 12 and a camera 13. The measuring bracket is fixed at the outer end of the cross beam 8 and arranged side by side with the large rotary connecting rod 14. The camera 13 and the four ultrasonic sensors 12 are all mounted at the outer end of the measuring stand. The four ultrasonic sensors 12 are grouped in pairs; two sets of ultrasonic sensors 12 are respectively provided on the left and right sides of the camera 13. The measurement module is used to determine the initial relative position of the assembly robot and the assembly object (the aircraft wing box 25).
As shown in fig. 7, the automated assembly robot that can be extended into the wing box works as follows:
step one, detecting the positions of the aircraft wing box and the fabrication holes on the wing box by a camera and an ultrasonic sensor in a measuring module.
And step two, the large rotating shaft 11, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23 rotate, so that the hand connecting rod 23 is in a vertical or inclined downward posture, and the working part of the tail end assembling tool 24 faces to one side close to the cross beam.
And step three, the height adjusting assembly drives the cross beam 8 to ascend and descend, so that the outer end of the tail end assembling tool 24 is aligned with a process hole in the aircraft wing box. The end fitting tool 24 is then caused to pass obliquely through the tooling hole, by rotation of the upper arm link 17, lower arm link 20 and hand link 23, into the interior of the aircraft wing box.
And step four, rotating the large rotating shaft 11, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23 through the lifting of the cross beam 8, so that the working part of the tail end assembling tool 24 sequentially moves to each fastener position needing to be installed below the process hole from bottom to top, and assembling the fasteners.
Step five, the upper arm link 17 and the lower arm link 20 rotate reversely at the same speed, so that the upper arm link 17 is adjusted from the inclined downward posture to the inclined upward posture, and the lower arm link 20 and the hand link 23 are kept in the same orientation; then, the lower arm link 20 and the hand link 23 rotate reversely and at the same speed, so that the lower arm link 20 is adjusted from the downward posture to the upward posture, while the hand link 23 is kept in the same orientation, so that the hand link 23 is in an overlapped state with the upper arm link 17 and the lower arm link 20, and the coverage range when the large revolving shaft 11 drives the mechanical arm to rotate is reduced.
And step six, rotating the large rotating shaft 11 by 180 degrees, so that the hand connecting rod 23 is changed from downward to upward.
And seventhly, rotating the large rotating shaft 11, the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23 through the lifting of the cross beam 8, so that the working part of the tail end assembling tool 24 sequentially moves to the positions of the fasteners to be installed above the process hole from bottom to top, and the fasteners are installed.
And step eight, after the fasteners above the fabrication holes are installed, the mechanical arm is withdrawn from the fabrication holes to the outside of the aircraft wing box through the lifting motion of the cross beam 8 and the rotation of the upper arm connecting rod 17, the lower arm connecting rod 20 and the hand connecting rod 23.
Claims (8)
1. An automatic assembly robot capable of extending into a wing box comprises a base, a height adjusting assembly, a cross beam (8) and a mechanical arm; the method is characterized in that: the inner end of the cross beam (8) and the base form a sliding pair which slides along the vertical direction; the cross beam (8) is driven by the height adjusting component to lift;
the mechanical arm comprises a large rotating shaft (11), a large rotating connecting rod (14), an upper arm connecting rod (17), a lower arm connecting rod (20), a hand connecting rod (23) and a tail end assembling tool (24); a large rotating shaft (11) capable of rotating 360 degrees is supported at the outer end of the cross beam (8); the axis of the big revolving shaft (11) is horizontally arranged; the outer end of the big rotary shaft (11) is fixed with a big rotary connecting rod (14); the inner end of the upper arm connecting rod (17) and the outer end of the large rotary connecting rod (14) form a first rotary pair; the inner end of the lower arm connecting rod (20) and the outer end of the upper arm connecting rod (17) form a second revolute pair; the inner end of the hand connecting rod (23) and the outer end of the lower arm connecting rod (20) form a third revolute pair; the common axes of the first rotating pair, the second rotating pair and the third rotating pair are parallel to each other and are vertical to the axis of the large rotating shaft (11); the tail end assembling tool (24) is arranged on the hand connecting rod (23) and is used for installing a fastener; the large rotating shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) can rotate under the driving of the power element, so that the tail end assembling tool (24) can extend into the interior of an aircraft wing box (25) through the fabrication hole to work; the rotating radiuses of the upper arm connecting rod (17) and the lower arm connecting rod (20) are both 100-150 mm; in a working state, the axis of the large rotating shaft (11) is aligned with a process hole of the aircraft wing box (25), and the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) extend into the aircraft wing box (25) through the process hole; under the state that the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) face opposite directions, the large rotating shaft (11) can drive the hand connecting rod (23) to rotate in the aircraft wing box (25).
2. An automated assembly robot extendable into a wing box according to claim 1, wherein: the upper arm connecting rod and the lower arm connecting rod have the same structure and comprise an inner end block (171), an intermediate inclined part and an outer end block (174) which are integrally formed; the inner ends of the inner end block (171) and the outer end block (174) are respectively connected with the two ends of the middle inclined part; the intermediate inclined portion causes the inner end block (171) and the outer end block (174) to be offset from each other; one side of the middle inclined part is provided with a motor mounting groove (173) for mounting a motor; the other side of the middle inclined part is provided with a belt transmission component mounting groove (176) for mounting a belt transmission component; two first ribbed plates (172) are formed on two sides of the motor mounting groove (173); two second ribbed plates (175) are formed on two sides of the belt transmission component mounting groove (176); the outer end block (174) on the upper arm connecting rod is positioned on the side of the inner end block (171) close to the large revolving connecting rod (14); an outer end block (174) on the lower arm link is located on the side of the inner end block (171) adjacent the upper arm link.
3. An automated assembly robot extendable into a wing box according to claim 1 or 2, wherein: the big rotating shaft (11) is driven to rotate by a first driving component; the first driving assembly comprises a second belt transmission assembly (9) and a second motor (10); the second belt transmission assembly comprises a second belt wheel and a second synchronous belt; one of the second belt wheels is fixed on the large rotating shaft (11), and the other second belt wheel is supported at the outer end of the cross beam (8) and is driven by a second motor (10); the two second belt wheels are connected through a second synchronous belt; the upper arm connecting rod (17) is driven to rotate by the second driving component; the second driving assembly comprises a third belt transmission assembly (16) and a third motor (15); the third belt transmission assembly comprises a third belt wheel and a third synchronous belt; one third belt wheel is fixed at the inner end of the upper arm connecting rod (17), and the other third belt wheel is supported on the large rotary connecting rod (14) and driven by a third motor (15); the two third belt wheels are connected through a third synchronous belt; the third motor (15) is fixed on the large rotary connecting rod (14); the lower arm connecting rod (20) is driven to rotate by a third driving component; the third driving assembly comprises a fourth belt transmission assembly (19) and a fourth motor (18); the fourth belt transmission assembly comprises a fourth belt wheel and a fourth synchronous belt; one fourth belt pulley is fixed at the inner end of the lower arm connecting rod (20), and the other fourth belt pulley is supported on the upper arm connecting rod (17) and driven by a fourth motor (18); the two fourth belt wheels are connected through a fourth synchronous belt; the fourth motor (18) is fixed on the upper arm connecting rod (17); the hand connecting rod (23) is driven to rotate by the fourth driving component; the fourth driving component comprises a fifth belt transmission component (22) and a fifth motor (21); the fifth belt transmission assembly comprises a fifth belt wheel and a fifth synchronous belt; one fifth belt pulley is fixed at the inner end of the hand connecting rod (23), and the other fifth belt pulley is supported on the lower arm connecting rod (20) and driven by a fifth motor (21); the two fifth belt wheels are connected through a fifth synchronous belt; the fifth motor (21) is fixed on the upper arm connecting rod (17).
4. An automated assembly robot extendable into a wing box according to claim 1, wherein: the base comprises a caster (1), a chassis (2), a vertical frame (3), a reinforcing frame (4) and a guide rail; a plurality of trundles (1) are arranged at the bottom of the chassis (2); one or more of the casters (1) is a universal wheel; the bottom end of the upright frame (3) which is vertically arranged is fixed with the tail end of the top of the chassis (2); the two reinforcing frames (4) are respectively arranged on two sides of the top of the chassis (2); two ends of the reinforcing frame (4) are respectively fixed with the chassis (2) and the upright frame (3); two guide rails which are vertically arranged are fixed on the inner side of the vertical frame (3); the inner end of the beam (8) is respectively connected with the two guide rails in a sliding way through the two sliding blocks (7).
5. An automated assembly robot extendable into a wing box according to claim 1, wherein: the height adjusting assembly comprises a first motor (5) and a first belt transmission assembly (6); the first belt transmission assembly (6) comprises a first belt wheel and a first synchronous belt; the two first belt pulleys are respectively supported at the top and the bottom of the upright frame (3) and are connected through a first synchronous belt; the lower first belt wheel is driven by a first motor (5) to rotate; the first synchronous belt is fixed with the inner end of the cross beam (8).
6. An automated assembly robot extendable into a wing box according to claim 1, wherein: the outer end of the cross beam (8) is aligned with the head end of the chassis (2); the cross beam (8) comprises an inner beam plate (81), a first side beam plate (82), a second side beam plate (83), a middle partition plate (84), an end plate (85), a first lug block (841) and a second lug block (851); the first side beam plate (82) and the second side beam plate (83) which are arranged at intervals and are parallel to each other are welded and fixed with the outer side surface of the inner beam plate (81); the two sides of the middle partition plate (84) are integrally formed with first lug blocks (841); the two first lug blocks (841) are respectively embedded into first clamping grooves on the first side beam plate (82) and the second side beam plate (83); both sides of the end panel (85) are integrally formed with second lug blocks (851); the two second lug blocks (851) are respectively embedded into second clamping grooves on the first side beam plate (82) and the second side beam plate (83); the middle partition plate (84) is positioned between the inner beam plate (81) and the end plate (85); the sliding block (7) is arranged on the inner beam plate (81); the large rotating shaft (11) is arranged between the middle partition plate (84) and the end plate (85); the first drive assembly is mounted on a mid-deck (84).
7. An automated assembly robot extendable into a wing box according to claim 1, wherein: the automatic assembly robot capable of extending into the wing box further comprises a measuring module; the measuring module comprises a measuring bracket, an ultrasonic sensor (12) and a camera (13); the measuring bracket is fixed at the outer end of the cross beam (8) and is arranged side by side with the large rotary connecting rod (14); the camera (13) and the plurality of ultrasonic sensors (12) are both mounted at the outer end of the measuring bracket.
8. The method of claim 1, wherein the automated assembly robot is further configured to extend into a wing box, the method comprising: the method comprises the following steps:
step one, rotating a large rotating shaft (11), an upper arm connecting rod (17), a lower arm connecting rod (20) and a hand connecting rod (23) to enable the hand connecting rod (23) to present a vertical or inclined downward posture, and enabling a working part of a tail end assembling tool (24) to face to one side close to a cross beam;
secondly, the height adjusting assembly drives the cross beam (8) to lift, so that the outer end of the tail end assembling tool (24) is aligned with a process hole in the aircraft wing box; then, the tail end assembling tool (24) obliquely penetrates through the technical hole and extends into the interior of the aircraft wing box through the rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23);
thirdly, the large rotating shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) rotate through the lifting of the cross beam (8), so that the working part of the tail end assembling tool (24) sequentially moves to each fastener position needing to be installed below the process hole from bottom to top, and the fasteners are assembled;
step four, the outer ends of the upper arm connecting rod (17) and the lower arm connecting rod (20) are inclined or vertically upward, and the outer end of the hand connecting rod (23) is inclined or vertically downward through the rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23);
step five, the large revolving shaft (11) rotates to enable the outer end of the hand connecting rod (23) to change from downward to upward;
sixthly, the big rotating shaft (11), the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23) rotate through the lifting of the cross beam (8), so that the working part of the tail end assembling tool (24) sequentially moves to the positions of all fasteners to be installed above the process hole from bottom to top, and the fasteners are assembled;
and seventhly, the mechanical arm is withdrawn from the fabrication hole to the outside of the aircraft wing box through the lifting motion of the cross beam (8) and the rotation of the upper arm connecting rod (17), the lower arm connecting rod (20) and the hand connecting rod (23).
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| US20200198131A1 (en) * | 2016-11-09 | 2020-06-25 | Mitsubishi Heavy Industries, Ltd. | Clamp installation apparatus, clamp installation system and method of installing a clamp |
| WO2021125035A1 (en) * | 2019-12-17 | 2021-06-24 | Thk株式会社 | Robot |
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| JPH0721696U (en) * | 1991-12-12 | 1995-04-21 | 敏雄 相馬 | Manual mounting means for automatic work equipment for construction |
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| US20080028880A1 (en) * | 2006-08-01 | 2008-02-07 | Asada H Harry | Gravity driven underactuated robot arm for assembly operations inside an aircraft wing box |
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| CN114800562B (en) | 2023-06-20 |
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