CN116968933A - Digital assembly system for middle body of helicopter and control method - Google Patents

Abstract

The invention discloses a helicopter middle body digital assembly system and a control method, wherein the helicopter middle body digital assembly system comprises: a base; the machine body top plate shape-keeping frame is provided with a machine body top plate clamping device; a body top plate positioning bracket; the machine body floor conformal frame is provided with a machine body floor clamping device; four floor gesture adjusting devices which are arranged at intervals and the inner side of which defines a parking space; the two side part positioning tools are horizontally arranged on the base in a movable manner along the second direction, and are provided with a scattered frame positioning device and a skin positioning device; the automatic guiding vehicle is provided with a vehicle-mounted jacking device; a measuring device; and a control system. The helicopter middle body digital assembly system provided by the embodiment of the invention has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

Description

Digital assembly system for middle body of helicopter and control method

Technical Field

The invention relates to the technical field of helicopter manufacturing, in particular to a helicopter middle body digital assembly system and a control method of the helicopter middle body digital assembly system.

Background

In the related art, complex aircrafts such as helicopter fuselages and the like are assembled mainly by means of manual assembly, and part of specific parts are positioned by adopting targeted tools, but due to the large size of the parts, deformation is easy to occur in the manual assembly and transportation processes, and the assembly precision and the assembly quality are difficult to ensure.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the helicopter middle body digital assembly system which has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

The invention also provides a control method of the helicopter middle body digital assembly system.

To achieve the above object, an embodiment according to a first aspect of the present invention proposes a helicopter midship fuselage digital assembly system comprising: a base; the helicopter comprises a fuselage top plate shape-preserving frame, wherein a fuselage top plate clamping device is arranged on the fuselage top plate shape-preserving frame, the fuselage top plate clamping device comprises four top plate clamping pieces which are respectively positioned on the outer sides of four edges of a fuselage top plate of a helicopter, the four top plate clamping pieces are suitable for clamping or releasing the fuselage top plate, and four top ball heads which are arranged at intervals are arranged on the lower surface of the fuselage top plate shape-preserving frame; the upper surface of the machine body top plate positioning bracket is provided with four top ball head positioning devices, and the four top ball heads are respectively suitable for being detachably matched in the four top ball head positioning devices; the helicopter comprises a fuselage floor conformal frame, wherein a fuselage floor clamping device is arranged on the fuselage floor conformal frame, the fuselage floor clamping device comprises four floor clamping pieces which are respectively positioned at the outer sides of four edges of a fuselage floor of a helicopter, the four floor clamping pieces are suitable for clamping or releasing the fuselage floor, and the lower surface of the fuselage floor conformal frame is provided with a guide car connecting ball head and four bottom ball heads; the four floor gesture adjusting devices are respectively suitable for being detachably matched in the four floor gesture adjusting devices, and the four floor gesture adjusting devices are arranged at intervals and define parking spaces on the inner sides; the two side part positioning tools are horizontally movably arranged on the base along the second direction and are respectively positioned at two sides of the airframe top plate positioning bracket in the second direction, the side part positioning tools are provided with a scattered frame positioning device and a skin positioning device, the scattered frame positioning device is suitable for locking or releasing an airframe scattered frame of the helicopter, and the skin positioning device is suitable for locking or releasing a airframe skin of the helicopter; the automatic guiding vehicle can horizontally move on the base and is suitable for entering and exiting the parking space, a vehicle-mounted jacking device is arranged on the automatic guiding vehicle, a vehicle-mounted ball head positioning device is arranged on the vehicle-mounted jacking device, and a guiding vehicle connecting ball head is suitable for being detachably matched in the vehicle-mounted ball head positioning device; the measuring device is arranged on the base and is used for measuring the pose of the airframe top plate, the airframe floor, the airframe loose frame and the airframe skin; and the control system is respectively and electrically connected with the measuring device and the four floor gesture adjusting devices.

The helicopter middle body digital assembly system provided by the embodiment of the invention has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

In addition, the helicopter middle body digital assembly system according to the embodiment of the invention can also have the following additional technical characteristics:

according to one embodiment of the invention, the machine body top plate positioning bracket comprises four upright posts and a top frame, wherein the upright posts are arranged on the base, the top frame is respectively connected with the upper ends of the four upright posts, and the top ball head positioning device is arranged on the upper surface of the top frame.

According to one embodiment of the invention, the inner sides of the four upright posts define an installation space, and the four floor gesture adjusting devices are arranged in the installation space.

According to one embodiment of the invention, each floor gesture adjustment device comprises: the base is arranged on the base; the first direction moving platform is arranged on the base in a sliding manner along a first direction; the second direction moving platform is arranged on the first direction moving platform in a sliding manner along the second direction; the vertical moving platform can be arranged on the second direction moving platform in a vertically movable manner, and the bottom ball head positioning device is arranged at the upper end of the vertical moving platform; the first driving device is in transmission connection with the first direction moving platform; the second driving device is in transmission connection with the second direction moving platform; and the vertical driving device is in transmission connection with the vertical movable platform.

According to one embodiment of the invention, the side positioning tool comprises two side stand columns, four horizontal connecting rods and a mounting frame, wherein the side stand columns are arranged at intervals, the side stand columns are movably arranged on the base along the second direction, two horizontal connecting rods which are arranged at intervals up and down are arranged on each side stand column, one end of each horizontal connecting rod is connected with the side stand column, the other end of each horizontal connecting rod is connected with the mounting frame, and the loose frame positioning device and the skin positioning device are arranged on the mounting frame.

According to one embodiment of the invention, the helicopter middle body digital assembly system further comprises two lifting work ladders, wherein the lifting work ladders are suitable for bearing operators, and the two lifting work ladders are respectively positioned on the outer sides of the two mounting frames in the second direction.

According to one embodiment of the invention, the measuring means are two and are arranged at intervals in both the first direction and the second direction.

According to one embodiment of the invention, each top plate holder is connected with a plurality of top plate holder driving devices, each top plate holder driving device comprises a top plate holder driving seat, a top plate holder driving screw rod and a top plate holder driving rotating wheel, the top plate holder driving seats are arranged on the machine body top plate shape keeping frame, the top plate holder driving screw rods are respectively connected with the top plate holder and the top plate holder driving rotating wheel and are in threaded fit with the top plate holder driving seats, each floor holder is connected with a plurality of floor holder driving devices, each floor holder driving device comprises a floor holder driving seat, a floor holder driving screw rod and a floor holder driving rotating wheel, each floor holder driving seat is arranged on the machine body floor shape keeping frame, and each floor holder driving screw rod is respectively connected with the floor holder driving rotating wheel and is in threaded fit with the floor holder driving seat.

According to one embodiment of the present invention, the top ball positioning device, the bottom ball positioning device and the vehicle-mounted ball positioning device are ball positioners, and the ball positioners include: the lock comprises a lock body, wherein the upper surface of the lock body is provided with a ball socket suitable for accommodating a ball head; the lock comprises a lock body, a ball socket, a lock tongue, a locking mechanism and a locking mechanism, wherein the lock tongue is movably arranged on the lock body between a release position, an anti-falling position and a locking position, the lock tongue allows the ball head to be separated from the ball socket when in the release position, the lock tongue prevents the ball head from being separated from the ball socket and allows the ball head to rotate relative to the ball socket when in the anti-falling position, and the lock tongue prevents the ball head from being separated from the ball socket and prevents the ball head from rotating relative to the ball socket when in the locking position; and the locking driving device is in transmission connection with the lock tongue.

An embodiment according to a second aspect of the present invention proposes a control method of a helicopter mid-fuselage digital assembly system according to an embodiment of the first aspect of the present invention, comprising the steps of:

the two side part positioning fixtures move outwards, the body top plate conformal frame which clamps the body top plate is hoisted to a body top plate positioning bracket, and the top ball head is matched in the top ball head positioning device;

The automatic guiding vehicle conveys the body floor conformal frame holding the body floor to the parking space, the vehicle-mounted jacking device descends, the floor gesture adjusting device drives the bottom ball head positioning device to align with the bottom ball head, the bottom ball head is matched in the bottom ball head positioning device, the guiding vehicle connecting ball head is separated from the vehicle-mounted ball head positioning device, and the automatic guiding vehicle drives out of the parking space;

the four floor gesture adjusting devices adjust the gesture of the floor of the machine body according to the detection result of the measuring device;

an operator locks the machine body loose frame by using the loose frame positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the machine body loose frame;

the side positioning tool moves outwards, an operator locks the fuselage skin by using the skin positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the fuselage skin;

the side positioning tool moves outwards, the machine body top plate conformal frame releases the machine body top plate, and the machine body top plate conformal frame is moved to enable the top ball head to be separated from the top ball head positioning device;

The automatic guiding vehicle drives into the parking space, the vehicle-mounted jacking device ascends to support the machine body floor conformal frame, the guiding vehicle connecting ball head is matched in the vehicle-mounted ball head positioning device, the bottom ball head is separated from the bottom ball head positioning device, and the automatic guiding vehicle drives out of the parking space.

According to the control method of the helicopter middle body digital assembly system, the helicopter middle body digital assembly system according to the embodiment of the first aspect of the invention has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a schematic structural view of a helicopter midship fuselage digital assembly system according to an embodiment of the invention.

Fig. 2 is a schematic structural view of a fuselage roof conformal frame and a fuselage roof positioning bracket of a mid-helicopter fuselage digital assembly system according to an embodiment of the invention.

Fig. 3 is a schematic structural view of a fuselage roof conformal frame of a mid-helicopter fuselage digital assembly system according to an embodiment of the invention.

Fig. 4 is a schematic structural view of a fuselage floor conformal frame and a floor attitude adjustment device of a helicopter mid-fuselage digital assembly system according to an embodiment of the invention.

Fig. 5 is a schematic structural view of a fuselage floor conformal frame of a mid-helicopter fuselage digital assembly system according to an embodiment of the invention.

Fig. 6 is a schematic structural view of a side positioning fixture of a helicopter middle fuselage digital assembly system according to an embodiment of the invention.

Fig. 7 is a flow chart of a control method of a helicopter midship fuselage digital assembly system according to an embodiment of the invention.

Reference numerals: the helicopter middle body digital assembly system 1, a helicopter top plate conformal frame 10, a top plate clamping piece 11, a top plate clamping piece driving device 12, a top ball 13, a fuselage top plate positioning bracket 20, a top ball positioning device 21, a column 22, a top frame 23, a fuselage floor conformal frame 30, a floor clamping piece 31, a floor clamping piece driving device 32, a bottom ball 33, a guide car connecting ball 34, a floor gesture adjusting device 40, a bottom ball positioning device 41, a base 42, a first direction moving platform 43, a second direction moving platform 44, a vertical moving platform 45, a side positioning tool 50, a side column 51, a horizontal connecting rod 52, a mounting frame 53, an automatic guiding car 60, a vehicle-mounted jacking device 61, a measuring device 70, an elevating work ladder 80, a fuselage top plate 2, a fuselage floor 3, a fuselage bulk frame 4, a fuselage skin 5 and an operator 6.

Detailed Description

The present application has been made based on the findings and knowledge of the inventors regarding the following facts and problems:

in the related art, complex aircrafts such as helicopter fuselages and the like are assembled mainly by means of manual assembly, and part of specific parts are positioned by adopting targeted tools, but due to the large size of the parts, deformation is easy to occur in the manual assembly and transportation processes, and the assembly precision and the assembly quality are difficult to ensure.

In particular, manual assembly requires frequent transportation of assembled parts between stations, and due to the large size of the parts, the parts are easily deformed due to stress during transportation, thereby reducing assembly quality.

In addition, because the size of the parts is large, the parts are easily deformed due to uneven stress in the manual assembly process, and the assembly quality is further reduced.

In addition, the fuselage part needs to carry out the punching operation after the assembly is accomplished, and part location frock in the correlation technique has covered the great part of fuselage, and is great to the interference of punching operation, and operating personnel is difficult to carry out the punching operation.

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

A helicopter midship fuselage digital assembly system 1 according to an embodiment of the invention is described below with reference to the accompanying drawings.

As shown in fig. 1 to 7, the helicopter middle fuselage digital assembly system 1 according to the embodiment of the invention comprises a base, a fuselage top plate conformal frame 10, a fuselage top plate positioning bracket 20, a fuselage floor conformal frame 30, four floor attitude adjusting devices 40, two side positioning tools 50, an automatic guiding vehicle 60, a measuring device 70 and a control system.

The base can be ground or a base which is independently arranged.

The fuselage roof conformal frame 10 is provided with a fuselage roof clamping device, the fuselage roof clamping device comprises four roof clamping pieces 11 which are respectively positioned at the outer sides of four edges of the fuselage roof 2 of the helicopter, the four roof clamping pieces 11 are suitable for clamping or releasing the fuselage roof 2, and the lower surface of the fuselage roof conformal frame 10 is provided with four top ball heads 13 (the up-down direction is shown by arrows in the figure) which are arranged at intervals. It should be understood here that the four roof clamps 11 are located outside the four edges of the fuselage roof 2 of the helicopter, respectively, means in a state in which the roof clamps 11 clamp the fuselage roof 2.

Four top ball positioning devices 21 are arranged on the upper surface of the body top plate positioning bracket 20, and the four top ball 13 are respectively suitable for being detachably matched in the four top ball positioning devices 21.

The fuselage floor conformal frame 30 is provided with a fuselage floor clamping device, the fuselage floor clamping device comprises four floor clamping pieces 31 which are respectively positioned at the outer sides of four edges of the fuselage floor 3 of the helicopter, the four floor clamping pieces 31 are suitable for clamping or releasing the fuselage floor 3, and the lower surface of the fuselage floor conformal frame 30 is provided with a guide car connecting ball head 34 and four bottom ball heads 33. It should be understood here that the four floor clamps 31 being located outside the four edges of the fuselage floor 3 of the helicopter, respectively, means that the floor clamps 31 clamp the fuselage floor 3.

The upper end of each floor gesture adjusting device 40 is provided with a bottom ball head positioning device 41, the floor gesture adjusting devices 40 are suitable for driving the bottom ball head positioning devices 41 in a first direction, a second direction and a vertical direction, the first direction and the second direction are both horizontal directions and mutually perpendicular, four bottom ball heads 33 are respectively suitable for being detachably matched in the four bottom ball head positioning devices 41, and the four floor gesture adjusting devices 40 are arranged at intervals and define a parking space on the inner side.

The two side positioning tools 50 are horizontally movably arranged on the base along the second direction and are respectively positioned at two sides of the airframe top plate positioning bracket 20 in the second direction, the side positioning tools 50 are provided with a loose frame positioning device and a skin positioning device, the loose frame positioning device is suitable for locking or releasing the airframe loose frame 4 of the helicopter, and the skin positioning device is suitable for locking or releasing the airframe skin 5 of the helicopter.

The automatic guiding vehicle 60 can horizontally move on the base and is suitable for entering and exiting the parking space, the automatic guiding vehicle 60 is provided with a vehicle-mounted jacking device 61, the vehicle-mounted jacking device 61 is provided with a vehicle-mounted ball head positioning device, and the guiding vehicle connecting ball head 34 is suitable for being detachably matched in the vehicle-mounted ball head positioning device.

The measuring device 70 is arranged on the base and is used for measuring the pose of the fuselage top plate 2, the fuselage floor 3, the fuselage frame 4 and the fuselage skin 5.

The control system is electrically connected with the measuring device 70 and the four floor gesture adjusting devices 40 respectively.

In particular, the figures show embodiments in which the first direction is oriented in the length direction of the central fuselage of the helicopter and the second direction is oriented in the width direction of the central fuselage.

By providing the fuselage roof conformal frame 10, the fuselage roof 2 can be clamped in place with four roof clamps 11 of the fuselage roof conformal frame 10. Because four roof clamping pieces 11 respectively clamp the fuselage roof 2 from the directions of four edges of the fuselage roof 2, the stress of the fuselage roof 2 can be more uniform, and the fuselage roof 2 is prevented from deforming to influence the assembly quality.

The top ball 13 and the top ball positioning device 21 can realize the detachable connection of the body top plate conformal frame 10 and the body top plate positioning bracket 20.

By providing the body floor conformal frame 30, the body floor 3 can be clamped in place with four floor clamps 31 of the body floor conformal frame 30. Because the four floor clamping pieces 31 respectively clamp the machine body floor 3 from the directions of the four edges of the machine body floor 3, the stress of the machine body floor 3 can be more uniform, and the machine body floor 3 is prevented from deforming to influence the assembly quality.

The bottom ball 33 and the bottom ball positioning device 41 can realize the detachable connection of the body floor conformal frame 30 and the floor gesture adjusting device 40.

By arranging the floor gesture adjusting device 40, the floor gesture adjusting device 40 can be utilized to drive the bottom ball head positioning device 41 in three degrees of freedom of the first direction, the second direction and the vertical direction, so that the adjustment of the body floor conformal frame 30 and the body floor 3 in at least six degrees of freedom is realized through the mutual matching of the four floor gesture adjusting devices 40.

Through setting up two lateral part location frock 50, can utilize the scattered frame positioner and the skin positioner of lateral part location frock 50 to carry out the locking location to fuselage scattered frame 4 and fuselage skin 5 respectively, through making lateral part location frock 50 can follow the horizontal movement of second direction, can be when the hoist and mount of fuselage roof conformal frame 10 and when automatic guided vehicle 60 transported fuselage floor conformal frame 30 earlier with lateral part location frock 50 outwards move in order to dodge.

By arranging the automatic guiding vehicle 60, the transportation of the body floor conformal frame 30 and the body floor 3 can be realized by using the automatic guiding vehicle 60, and the detachable connection of the body floor conformal frame 30 and the automatic guiding vehicle 60 can be realized by the guiding vehicle connecting ball 34 and the vehicle-mounted ball positioning device.

By arranging the measuring device 70 and the control system, the pose of the airframe top plate 2, the airframe floor 3, the airframe loose frame 4 and the airframe skin 5 can be measured by the measuring device 70, so that the pose adjusting device 40 can adjust the pose of the airframe floor conformal frame 30 and the airframe floor 3 according to the detection result, the assembly precision and accuracy are improved, and the digital assembly of the airframe in the middle of the helicopter is realized.

Because the top ball 13 and the top ball positioning device 21, the bottom ball 33 and the bottom ball positioning device 41, the guide vehicle connecting ball 34 and the vehicle-mounted ball positioning device are all connected through the ball structure, the deformation of the machine body part caused by the stress acting on the machine body part can be avoided, and the assembly quality is further improved.

The helicopter middle body digital assembly system 1 can enable the fuselage roof 2, the fuselage floor 3, the fuselage frame 4 and the fuselage skin 5 to be assembled at the same station, reduces the frequent transportation process of parts, avoids the problem of deformation of the parts caused by transportation, further improves the assembly quality, saves more time and labor compared with manual assembly, and can effectively improve the assembly efficiency.

According to the helicopter middle body digital assembly system 1 provided by the embodiment of the invention, compared with a manual assembly mode in the related art, the helicopter middle body digital assembly system 1 can reliably position the body parts, and avoid deformation of the body parts, so that the assembly quality is improved, the pose of the parts can be accurately controlled, the assembly precision and accuracy are improved, the transportation process can be reduced, the deformation caused by the transportation process is avoided, the assembly quality is further improved, and the assembly efficiency is improved.

Therefore, the helicopter middle body digital assembly system 1 provided by the embodiment of the invention has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like.

A helicopter midship fuselage digital assembly system 1 according to an embodiment of the invention is described below with reference to the accompanying drawings.

In some embodiments of the present invention, as shown in fig. 1-7, a helicopter midship fuselage digital assembly system 1 according to an embodiment of the present invention comprises a base, a fuselage roof conformal frame 10, a fuselage roof positioning bracket 20, a fuselage floor conformal frame 30, four floor attitude adjustment devices 40, two side positioning fixtures 50, an automated guided vehicle 60, a measurement device 70, and a control system.

Specifically, as shown in fig. 2, the body top plate positioning bracket 20 includes four upright posts 22 and a top frame 23, the upright posts 22 are provided on the base, the top frame 23 is connected to the upper ends of the four upright posts 22, respectively, and the top ball positioning device 21 is provided on the upper surface of the top frame 23. Thus, a more open installation space can be formed conveniently, shielding and interference of the airframe roof positioning bracket 20 on airframe components are reduced, and subsequent procedures such as punching are facilitated.

Advantageously, as shown in fig. 2, the inner sides of the four uprights 22 define a mounting space in which the four floor gesture devices 40 are all provided. Specifically, the fuselage floor conformal frame 30 is also located within the installation space after being connected to the floor gesture device 40, and the fuselage ceiling conformal frame 10 is spaced up and down from the fuselage floor conformal frame 30 to accommodate the middle fuselage of the helicopter. Thus, the arrangement of the floor gesture adjusting device 40 can be facilitated, the upright post 22 is prevented from interfering with the movement of the floor gesture adjusting device 40, and the connection of the floor gesture adjusting device 40 and the machine body floor conformal frame 30 is facilitated.

More specifically, as shown in fig. 4, the floor gesture adjustment device 40 includes a base 42, a first directional movement platform 43, a second directional movement platform 44, and a vertical movement platform 45. A base 42 is provided on the base. The first direction moving platform 43 is slidably disposed on the base 42 along a first direction. The second direction moving platform 44 is slidably provided on the first direction moving platform 43 in the second direction. The vertical moving platform 45 is movably disposed on the second direction moving platform 44, and the bottom ball positioning device 41 is disposed at an upper end of the vertical moving platform 45. The first drive means is in driving connection with the first direction moving platform 43. The second driving device is in transmission connection with the second directional platform 44. The vertical driving device is in transmission connection with the vertical movable platform 45. Specifically, the floor gesture device 40 may be a three degree of freedom POGO post. This may facilitate the actuation of the floor gesture adjustment device 40 in three degrees of freedom, thereby facilitating the adjustment of the pose of the fuselage floor conformal frame 30 and the fuselage floor 3 by the four floor gesture adjustment devices 40 in at least six degrees of freedom.

More advantageously, as shown in fig. 6, the side positioning fixture 50 includes two side uprights 51 disposed at intervals, four horizontal connecting rods 52 and a mounting frame 53, the side uprights 51 are movably disposed on the base along the second direction, two horizontal connecting rods 52 disposed at intervals up and down are disposed on each side upright 51, one end of each horizontal connecting rod 52 is connected to the side upright 51, the other end is connected to the mounting frame 53, and the loose frame positioning device and the skin positioning device are disposed on the mounting frame 53. Specifically, the side stand 51 may be movably provided on the base by a ground rail. Thus, an operation space can be reserved for assembling the fuselage frame 4 and the fuselage skin 5, and the assembling operation of the fuselage frame 4 and the fuselage skin 5 is facilitated.

Further, the helicopter middle fuselage digital assembly system 1 further comprises two elevator ladders 80, the elevator ladders 80 being adapted to carry the operators 6, the two elevator ladders 80 being located outside the two mounting frames 53, respectively, in said second direction. Specifically, the lift ladder 80 may also be moved horizontally to match the movement of the side positioning tool 50, and the lift ladder 80 may be a hydraulic scissor lift. This allows the operator 6 to ascend the elevator 80 to perform the assembly operation of the fuselage frame 4 and the fuselage skin 5.

Fig. 1 illustrates a helicopter midship fuselage digital assembly system 1 according to some examples of the invention. As shown in fig. 1, the measuring devices 70 are two and are disposed at intervals in both the first direction and the second direction. Specifically, two measuring devices 70 are respectively provided adjacent to both ends of the diagonal line in the horizontal direction of the installation space. The measurement by the measuring device 70 may be based on the fuselage roof 2. In this way, the two measuring devices 70 can be used to measure the pose of the airframe component from different directions, thereby improving the accuracy of measurement.

Specifically, the measuring device 70 is mounted on the base through a buffer seat and a pillar to reduce the influence of vibration on the detection result.

Specifically, as shown in fig. 3, each top plate holder 11 is connected with a plurality of top plate holder driving devices 12, each top plate holder driving device 12 includes a top plate holder driving seat, a top plate holder driving screw and a top plate holder driving wheel, the top plate holder driving seat is provided on the body top plate shape preserving frame 10, the top plate holder driving screw is respectively connected with the top plate holder 11 and the top plate holder driving wheel and is in threaded fit with the top plate holder driving seat, as shown in fig. 5, each floor holder 31 is connected with a plurality of floor holder driving devices 32, each floor holder driving device 32 includes a floor holder driving seat, a floor holder driving screw and a floor holder driving wheel, the floor holder driving seat is provided on the body floor shape preserving frame 30, and the floor holder driving screw is respectively connected with the floor holder 31 and the floor holder driving wheel and is in threaded fit with the floor holder driving seat. Therefore, the rotation of the driving rotating wheel can be converted into the axial movement of the screw rod relative to the driving seat through the threaded fit of the screw rod and the driving seat, so that the clamping piece is driven to move, and the clamping and the release of the machine body part are realized.

More specifically, the top ball positioning device 21, the bottom ball positioning device 41 and the vehicle-mounted ball positioning device are ball positioners, and the ball positioners comprise a lock body, a lock tongue and a locking driving device. The upper surface of the lock body is provided with a ball socket which is suitable for accommodating the ball head. The lock tongue is movably arranged on the lock body among a release position, an anti-falling position and a locking position, the lock tongue allows the ball head to be separated from the ball socket when in the release position, the lock tongue prevents the ball head from being separated from the ball socket and allows the ball head to rotate relative to the ball socket when in the anti-falling position, and the lock tongue prevents the ball head from being separated from the ball socket and prevents the ball head from rotating relative to the ball socket when in the locking position. And the locking driving device is in transmission connection with the lock tongue. Specifically, the balls may be a top ball 13, a bottom ball 33, and a guide car connection ball 34. Therefore, the position of the lock tongue can be adjusted according to the requirement, and the anti-falling, locking or releasing of the ball head is realized.

In particular, the mid-helicopter fuselage digital assembly system 1 is bilaterally symmetrical in the second direction.

The operation of the helicopter midship fuselage digital assembly system 1 according to an embodiment of the invention is described below with reference to fig. 1-7.

The side positioning tooling 50 moves outwardly, avoiding the fuselage top plate conformal frame 10 and the fuselage floor conformal frame 30.

The body top plate shape-keeping frame 10 which clamps the body top plate 2 is hung above the body top plate positioning bracket 20 by a crane, so that the top ball 13 is matched in the top ball positioning device 21, and the lock tongue of the top ball positioning device 21 is driven to lock.

The automatic guided vehicle 60 transports the body floor conformal frame 30 having the body floor 3 clamped thereto to the parking position such that the body floor conformal frame 30 is positioned above the floor gesture adjustment device 40.

The vehicle-mounted jacking device 61 descends, the floor gesture adjusting device 40 drives the bottom ball head positioning device 41 to align with the bottom ball head 33, the floor gesture adjusting device 40 supports the grounding machine body floor conformal frame 30, the bottom ball head 33 is matched in the bottom ball head positioning device 41 and drives the lock tongue to lock, the guide vehicle connecting ball head 34 is separated from the vehicle-mounted ball head positioning device, and the automatic guide vehicle 60 is driven out of the parking position.

The control system controls the four floor gesture adjusting devices 40 to move according to the detection result of the measuring device 70, so that the gesture adjustment of the body floor conformal frame 30 with 6 degrees of freedom is realized, and the stable positioning and supporting of the body floor conformal frame 30 are realized.

Moving the side positioning tool 50 locked with the machine body loose frame 4 inwards;

the operator steps on the lifting working ladder 80 and installs the machine body loose frame 4;

the side positioning tool 50 moves outwards;

the operator locks the fuselage skin 5 on the side positioning tooling 50;

the side positioning tool 50 moves inwards, and an operator is positioned on the lifting working ladder 80 to install the fuselage skin 5;

the two transfer beams are arranged on the lower surface of the fuselage floor 3, and can be used for quick connection and positioning with the bracket, and the bracket can be used for butt joint of helicopter section pieces and section pieces, so that the assembly efficiency of subsequent procedures is improved;

the side positioning tool 50 moves outwards;

the top ball positioning device 21 releases the top ball 13, and the body top plate conformal frame 10 is moved to disengage the top ball 13 from the top ball positioning device 21, and the body top plate conformal frame 10 is turned over by 90 degrees.

The automatic guided vehicle 60 is driven into the parking space, the vehicle-mounted jacking device 61 is lifted to support the body floor conformal frame 30, the guide vehicle connecting ball 34 is matched in the vehicle-mounted ball positioning device, the bottom ball 33 is separated from the bottom ball positioning device 41, and the automatic guided vehicle 60 is driven out of the parking space.

The automatic guiding vehicle 60 conveys the assembled components to an automatic drilling and riveting station for hole making and riveting of connecting holes, and assembly of front section parts of the helicopter body is completed.

The control method of the helicopter middle fuselage digital assembly system 1 according to the above embodiment of the invention is described below, comprising the steps of:

the two side part positioning fixtures move outwards, the body top plate conformal frame which clamps the body top plate is hoisted to a body top plate positioning bracket, and the top ball head is matched in the top ball head positioning device;

the automatic guiding vehicle conveys the body floor conformal frame holding the body floor to the parking space, the vehicle-mounted jacking device descends, the floor gesture adjusting device drives the bottom ball head positioning device to align with the bottom ball head, the bottom ball head is matched in the bottom ball head positioning device, the guiding vehicle connecting ball head is separated from the vehicle-mounted ball head positioning device, and the automatic guiding vehicle drives out of the parking space;

the four floor gesture adjusting devices adjust the gesture of the floor of the machine body according to the detection result of the measuring device;

an operator locks the machine body loose frame by using the loose frame positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the machine body loose frame;

The side positioning tool moves outwards, an operator locks the fuselage skin by using the skin positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the fuselage skin;

the side positioning tool moves outwards, the machine body top plate conformal frame releases the machine body top plate, and the machine body top plate conformal frame is moved to enable the top ball head to be separated from the top ball head positioning device;

the automatic guiding vehicle drives into the parking space, the vehicle-mounted jacking device ascends to support the machine body floor conformal frame, the guiding vehicle connecting ball head is matched in the vehicle-mounted ball head positioning device, the bottom ball head is separated from the bottom ball head positioning device, and the automatic guiding vehicle drives out of the parking space.

The control method of the helicopter middle body digital assembly system 1 according to the embodiment of the invention has the advantages of high assembly precision, good assembly quality, high assembly efficiency and the like by utilizing the helicopter middle body digital assembly system 1 according to the embodiment of the invention.

Other constructions and operations of the mid-helicopter fuselage digital assembly system 1 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A helicopter midship fuselage digital assembly system comprising:

a base;

the helicopter comprises a fuselage top plate shape-preserving frame, wherein a fuselage top plate clamping device is arranged on the fuselage top plate shape-preserving frame, the fuselage top plate clamping device comprises four top plate clamping pieces which are respectively positioned on the outer sides of four edges of a fuselage top plate of a helicopter, the four top plate clamping pieces are suitable for clamping or releasing the fuselage top plate, and four top ball heads which are arranged at intervals are arranged on the lower surface of the fuselage top plate shape-preserving frame;

The upper surface of the machine body top plate positioning bracket is provided with four top ball head positioning devices, and the four top ball heads are respectively suitable for being detachably matched in the four top ball head positioning devices;

the helicopter comprises a fuselage floor conformal frame, wherein a fuselage floor clamping device is arranged on the fuselage floor conformal frame, the fuselage floor clamping device comprises four floor clamping pieces which are respectively positioned at the outer sides of four edges of a fuselage floor of a helicopter, the four floor clamping pieces are suitable for clamping or releasing the fuselage floor, and the lower surface of the fuselage floor conformal frame is provided with a guide car connecting ball head and four bottom ball heads;

the four floor gesture adjusting devices are respectively suitable for being detachably matched in the four floor gesture adjusting devices, and the four floor gesture adjusting devices are arranged at intervals and define parking spaces on the inner sides;

the two side part positioning tools are horizontally movably arranged on the base along the second direction and are respectively positioned at two sides of the airframe top plate positioning bracket in the second direction, the side part positioning tools are provided with a scattered frame positioning device and a skin positioning device, the scattered frame positioning device is suitable for locking or releasing an airframe scattered frame of the helicopter, and the skin positioning device is suitable for locking or releasing a airframe skin of the helicopter;

The automatic guiding vehicle can horizontally move on the base and is suitable for entering and exiting the parking space, a vehicle-mounted jacking device is arranged on the automatic guiding vehicle, a vehicle-mounted ball head positioning device is arranged on the vehicle-mounted jacking device, and a guiding vehicle connecting ball head is suitable for being detachably matched in the vehicle-mounted ball head positioning device;

the measuring device is arranged on the base and is used for measuring the pose of the airframe top plate, the airframe floor, the airframe loose frame and the airframe skin;

and the control system is respectively and electrically connected with the measuring device and the four floor gesture adjusting devices.

2. The helicopter middle fuselage digital assembly system of claim 1, wherein the fuselage roof positioning bracket comprises four uprights and a top frame, the uprights are arranged on the base, the top frame is respectively connected with the upper ends of the four uprights, and the top ball head positioning device is arranged on the upper surface of the top frame.

3. The helicopter midship fuselage digital assembly system of claim 2 wherein the inner sides of four of the columns define an installation space and four of the floor gesture adjustment devices are disposed within the installation space.

4. The mid-helicopter fuselage digital assembly system of claim 1, wherein each of the floor gesture adjustment devices comprises:

the base is arranged on the base;

the first direction moving platform is arranged on the base in a sliding manner along a first direction;

the second direction moving platform is arranged on the first direction moving platform in a sliding manner along the second direction;

the vertical moving platform can be arranged on the second direction moving platform in a vertically movable manner, and the bottom ball head positioning device is arranged at the upper end of the vertical moving platform;

the first driving device is in transmission connection with the first direction moving platform;

the second driving device is in transmission connection with the second direction moving platform;

and the vertical driving device is in transmission connection with the vertical movable platform.

5. The helicopter middle fuselage digital assembly system of claim 1, wherein the side positioning fixture comprises two side uprights arranged at intervals, four horizontal connecting rods and a mounting frame, the side uprights are movably arranged on the base along the second direction, each side upright is provided with two horizontal connecting rods arranged at intervals up and down, one end of each horizontal connecting rod is connected with the side upright, the other end of each horizontal connecting rod is connected with the mounting frame, and the loose frame positioning device and the skin positioning device are arranged on the mounting frame.

6. The mid-helicopter fuselage digital assembly system of claim 5, further comprising two lift ladders adapted to carry an operator thereon, the two lift ladders being located outboard of the two mounting frames, respectively, in the second direction.

7. The mid-helicopter fuselage digital assembly system of claim 1 wherein the measurement devices are two and spaced apart in both the first and second directions.

8. The helicopter midship fuselage digital assembly system of claim 1, wherein each of the roof clamps is connected with a plurality of roof clamp drive devices, the roof clamp drive devices including a roof clamp drive mount, a roof clamp drive screw, and a roof clamp drive runner, the roof clamp drive mount being provided on the fuselage roof conformal frame, the roof clamp drive screw being connected to the roof clamp and the roof clamp drive runner, respectively, and being in threaded engagement with the roof clamp drive mount, each of the floor clamps being connected with a plurality of floor clamp drive devices, the floor clamp drive devices including a floor clamp drive mount, a floor clamp drive screw, and a floor clamp drive runner, the floor clamp drive mount being provided on the fuselage floor conformal frame, the floor clamp drive screw being connected to the floor clamp and the floor clamp drive runner, respectively, and being in threaded engagement with the floor clamp drive mount.

9. The helicopter midship fuselage digital assembly system of claim 1 wherein the top ball positioning device, the bottom ball positioning device, and the vehicle-mounted ball positioning device are ball positioners, the ball positioners comprising:

the lock comprises a lock body, wherein the upper surface of the lock body is provided with a ball socket suitable for accommodating a ball head;

the lock comprises a lock body, a ball socket, a lock tongue, a locking mechanism and a locking mechanism, wherein the lock tongue is movably arranged on the lock body between a release position, an anti-falling position and a locking position, the lock tongue allows the ball head to be separated from the ball socket when in the release position, the lock tongue prevents the ball head from being separated from the ball socket and allows the ball head to rotate relative to the ball socket when in the anti-falling position, and the lock tongue prevents the ball head from being separated from the ball socket and prevents the ball head from rotating relative to the ball socket when in the locking position;

and the locking driving device is in transmission connection with the lock tongue.

10. A control method of a digital assembly system for a central fuselage of a helicopter according to any of claims 1 to 9, comprising the steps of:

the two side part positioning fixtures move outwards, the body top plate conformal frame which clamps the body top plate is hoisted to a body top plate positioning bracket, and the top ball head is matched in the top ball head positioning device;

The automatic guiding vehicle conveys the body floor conformal frame holding the body floor to the parking space, the vehicle-mounted jacking device descends, the floor gesture adjusting device drives the bottom ball head positioning device to align with the bottom ball head, the bottom ball head is matched in the bottom ball head positioning device, the guiding vehicle connecting ball head is separated from the vehicle-mounted ball head positioning device, and the automatic guiding vehicle drives out of the parking space;

the four floor gesture adjusting devices adjust the gesture of the floor of the machine body according to the detection result of the measuring device;

an operator locks the machine body loose frame by using the loose frame positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the machine body loose frame;

the side positioning tool moves outwards, an operator locks the fuselage skin by using the skin positioning device, the side positioning tool moves inwards, and the operator completes connection and installation of the fuselage skin;

the side positioning tool moves outwards, the machine body top plate conformal frame releases the machine body top plate, and the machine body top plate conformal frame is moved to enable the top ball head to be separated from the top ball head positioning device;

The automatic guiding vehicle drives into the parking space, the vehicle-mounted jacking device ascends to support the machine body floor conformal frame, the guiding vehicle connecting ball head is matched in the vehicle-mounted ball head positioning device, the bottom ball head is separated from the bottom ball head positioning device, and the automatic guiding vehicle drives out of the parking space.