CN215240028U - Aircraft outward appearance polishing robot device - Google Patents
Aircraft outward appearance polishing robot device Download PDFInfo
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- CN215240028U CN215240028U CN202023173586.1U CN202023173586U CN215240028U CN 215240028 U CN215240028 U CN 215240028U CN 202023173586 U CN202023173586 U CN 202023173586U CN 215240028 U CN215240028 U CN 215240028U
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- fuselage
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Abstract
The utility model discloses an aircraft outward appearance polishing robot device includes: connect fuselage repair platform and man-machine cooperation robot on driving a vehicle, one deck platform guide rail and double deck platform guide rail are installed along the fuselage direction of aircraft to fuselage repair platform, still install and to follow the one deck platform guide rail removes, is used for polishing the first set man-machine cooperation robot of aircraft fuselage side and can follow the circular arc guide rail that double deck platform guide rail removed, the appearance adaptation at circular arc guide rail and aircraft fuselage top to the installation is used for polishing the second set man-machine cooperation robot at aircraft fuselage back, aircraft outward appearance polishing robot device still includes portable, liftable's walking car, install the third set man-machine cooperation robot that is used for polishing aircraft fuselage belly on the walking car. The utility model discloses a semi-automatic of aircraft fuselage is polished, has reduced working strength and has improved work efficiency.
Description
Technical Field
The utility model relates to an aircraft maintenance technical field, concretely relates to aircraft outward appearance polishing robot device.
Background
The whole machine painting of the airplane is usually needed once every six years so as to ensure the safety, the corrosion resistance and the aesthetic property of the airplane. The original paint layer needs to be polished and paint removed before paint spraying. The current common practice in the civil aviation industry is to polish the whole aircraft by the portable pneumatic polishing tool of human operation, because the size of passenger plane is all great, and the difficulty is more when polishing the side or the back of aircraft fuselage, and not only work efficiency is low, and the quality is uncontrollable moreover, intensity of labour is big, still has occupational health harm, and manual operation still has the safety risk of personnel and equipment.
Chinese patent publication No. CN111037415A discloses an automatic flexible polishing device and polishing method for composite materials for aircraft repair, which comprises a mobile platform, a cooperative robot, a floating force-sensitive polishing head mechanism, a dust collector and a control assembly, wherein the cooperative robot comprises a six-axis light mechanical arm, a six-dimensional force sensor, a robot controller and a demonstrator. The equipment realizes semi-automation or automation of the operation processes of grinding, digging, polishing and the like related to the repair of the composite material. However, the equipment cannot polish and remove paint on the whole surface of a large airplane, particularly on the side and the back of the airplane.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an aircraft outward appearance polishing robot device can be used to the automation or semi-automatic polishing of whole aircraft fuselage outward appearance.
The technical scheme adopted by the method is as follows,
the utility model provides an aircraft outward appearance polishing robot device, repairs platform and man-machine cooperation robot including connecting the fuselage on driving a vehicle, one deck platform guide rail and double deck platform guide rail are installed to fuselage repair platform along the fuselage direction of aircraft, still installs and to follow the one deck platform guide rail removes, is used for polishing the first set of man-machine cooperation robot of aircraft fuselage side and can follow the circular arc guide rail that double deck platform guide rail removed, the appearance adaptation at circular arc guide rail and aircraft fuselage top to the installation is used for polishing the second set of man-machine cooperation robot at aircraft fuselage back, aircraft outward appearance polishing robot device still includes portable, liftable walking car, the installation is used for polishing the abdominal third set of man-machine cooperation robot of aircraft fuselage on the walking car.
The utility model discloses a device, with the driving, repair platform, man-machine cooperation robot combination, the side of aircraft fuselage can be covered in the route of polishing of the first set man-machine cooperation robot of installation on the one deck platform guide rail, installs circular arc guide rail on the platform guide rail of bilayer, installs the second set man-machine cooperation robot on circular arc guide rail, makes its route of polishing can cover the back of aircraft fuselage, has realized the semi-automatization operation that fuselage side, back were polished.
The fuselage repair platforms are symmetrically arranged on two sides of the fuselage of the airplane, so that polishing and paint removal on the left side and the right side of the fuselage of the airplane are facilitated.
The one deck platform guide rail is for following the fixed setting of fuselage direction of aircraft microscler channel-section steel on the platform is repaired to the fuselage, the slider is installed to the inslot of microscler channel-section steel, the slider passes through the ring flange and connects first set of man-machine cooperation robot, still seted up one row of locating hole on the microscler channel-section steel, the ring flange with install detachable locking part between the locating hole for with the position locking of first set of man-machine cooperation robot, then the robot accomplishes polishing of current station according to predetermineeing the route.
The slider is including locating the perpendicular gyro wheel at both ends about the slider and locating the horizontal gyro wheel at both ends about the slider for strengthen the slider with the stability of microscler channel-section steel connection and the stationarity of slip process.
The circular arc guide rail includes the truss girder, the one end sliding connection of truss girder is in on the second floor platform guide rail, the bottom of truss girder is an arc channel-section steel, be provided with the rack in the arc channel-section steel, second set of man-machine cooperation robot passes through gear cooperation and connects the rack, make second set of man-machine cooperation robot can follow the circular arc guide rail removes, gear connection has the motor, controls gear revolve at the aircraft back that personnel hardly reachd, through the gear rack motion can the long-range accurate position of controlling second set of man-machine cooperation robot.
The man-machine cooperation robot comprises a mechanical arm, a constant-force flexible connecting arm and a sander which are connected. The sander is an actuating mechanism for sanding the surface of the airplane, the mechanical arm is used for controlling the sander to move according to a preset path, the constant-force flexible connecting arm is used for providing a constant working pressure perpendicular to the surface of the airplane body for the sander, and the situation that excessive sanding or insufficient sanding amount is caused by the unevenness of the surface of the airplane is avoided.
The aircraft surface polishing method comprises the following steps,
s1: parking the airplane to a corresponding airplane position;
s2: moving the fuselage repair platform to two sides of the airplane through a traveling crane, wherein the moving position is determined according to the appearance of the fuselage and the working space of the man-machine cooperation robot;
s3: moving a first set of man-machine cooperation robot on the platform guide rail to a target position, locking the first set of man-machine cooperation robot, inserting a locking part into a hole of the flange plate and a positioning hole on the platform guide rail and fixing, and locking a sliding block so as to lock the position of the first set of man-machine cooperation robot;
s4: moving an arc guide rail on a second-layer platform guide rail to a target position, locking the arc guide rail in the same way as a locking anti-slip block on the first-layer platform guide rail, and then adjusting a second set of robot-cooperative robot to the target position in a way that a gear is controlled by a motor to move relative to a rack;
s5: moving the walking vehicle to a target position, adjusting the walking vehicle to a preset height, and locking the walking vehicle;
s6: the first set of cooperative robot, the second set of cooperative robot and the third set of cooperative robot respectively polish the surface of the body of the airplane according to preset polishing paths;
s7: and after finishing the grinding work of one station, repeating the step S3 or the step S4 or the step S5, moving the first set of cooperative robots or the second set of cooperative robots or the third set of cooperative robots to another station, and grinding the surface of the body of the airplane according to the preset grinding path of the other station.
The utility model has the advantages of it is following:
1. the utility model discloses an aircraft outward appearance polishing robot has realized the semi-automatic polishing on aircraft fuselage surface, has especially reduced the working strength that aircraft fuselage side and back were polished, and operator and man-machine cooperation robot sharing operation space have improved work efficiency.
2. The utility model discloses an one deck platform guide rail is the channel-section steel structure, and the slider includes perpendicular gyro wheel and horizontal gyro wheel, has ensured the stationarity when being connected the steadiness and removing between man-machine cooperation robot and the one deck platform guide rail.
3. The utility model discloses be provided with the circular arc guide rail at the back of aircraft fuselage, through rack and pinion structural connection people-machine cooperation robot on the circular arc guide rail, the long-range accurate position of controlling people-machine cooperation robot of being convenient for, so no longer need the operator to climb to fuselage back work, also need not to build work platform at the fuselage back, both reduced intensity of labour, also promoted work efficiency.
Drawings
The invention will be described in further detail with reference to the following drawings and specific embodiments:
fig. 1 is a front view of an operating state of the aircraft surface polishing robot device of the present invention;
fig. 2 is a perspective view of the working state of the aircraft surface grinding robot device of the present invention, which does not include a traveling crane;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is an enlarged view of portion B of FIG. 2;
FIG. 5 is a view of the installation structure of the first set of platform guide rails and the first set of human-computer cooperative robot according to the present invention;
FIG. 6 is a view of the installation structure of the one-layer platform guide rail and the slide block of the present invention;
FIG. 7 is a perspective view of the slider of FIG. 6;
FIG. 8 is a block diagram of a first set of human-machine cooperative robots;
FIG. 9 is a view showing the installation structure of the circular arc guide rail and a second set of human-machine cooperative robot;
FIG. 10 is a perspective view of a circular arc guide rail;
description of reference numerals:
1. driving a vehicle; 2. a fuselage repair platform; 3. a layer of platform guide rails; 4. a first set of human-computer cooperative robots; 41. a mechanical arm; 42. a constant force flexible connecting arm; 43. a sander; 5. a two-layer platform guide rail; 6. a circular arc guide rail; 61. arc channel steel; 62. a sliding seat; 7. a second set of human-machine cooperative robots; 8. a walking vehicle; 9. a third set of human-computer cooperative robots; 10. a slider; 10a, vertical rollers; 10b, a horizontal roller; 10c, fixing plates; 11. a flange plate; 11a, a locking member; 12. a rack; 13. a gear; 14. an electric motor.
Detailed Description
As shown in fig. 1 to 4, an aircraft exterior polishing robot device comprises a fuselage repair platform 2 and a man-machine cooperation robot connected to a traveling crane 1, wherein the fuselage repair platform 2 is provided with a first layer platform guide rail 3 and a second layer platform guide rail 5 along the fuselage direction of an aircraft, and is further provided with a first set of man-machine cooperation robot 4 capable of moving along the first layer platform guide rail 3 and polishing the side surface of the aircraft fuselage and an arc guide rail 6 capable of moving along the second layer platform guide rail 5, the arc guide rail 6 is matched with the top of the aircraft fuselage in shape and is provided with a second set of man-machine cooperation robot 7 capable of polishing the back of the aircraft fuselage, the aircraft exterior polishing robot device further comprises a movable and liftable traveling vehicle 8, and the traveling vehicle 8 is provided with a third set of man-machine cooperation robot 9 capable of polishing the belly of the aircraft fuselage.
The fuselage repair platforms 2 are symmetrically arranged on two sides of the fuselage of the airplane, so that polishing and paint removal on the left side and the right side of the fuselage of the airplane are facilitated.
As shown in fig. 5 to 8, the platform guide rail 3 is a long channel steel fixedly arranged on the body repairing platform 2 along the body direction of the airplane, a slider 10 is installed in a groove of the long channel steel, the slider 10 is connected with the first set of man-machine cooperation robot 4 through a flange plate 11, a row of positioning holes are further formed in the long channel steel, a detachable locking part 11a is installed between the flange plate 11 and the positioning holes, the locking part 11a can be a bolt fastener and used for locking the position of the first set of man-machine cooperation robot 4, then the robot finishes polishing of the current station according to a preset path, and the first set of man-machine cooperation robot 4 comprises a mechanical arm 41, a constant-force flexible connecting arm 42 and a polisher 43 which are connected. The sander 43 is an actuating mechanism for sanding the surface of the airplane, the mechanical arm 41 is used for controlling the sander 43 to move according to a preset path, and the constant-force flexible connecting arm 42 is used for providing a constant working pressure perpendicular to the surface of the airplane body for the sander 43, so that the situation of excessive sanding or insufficient sanding amount caused by uneven surface of the airplane is avoided. The second set of human-machine cooperation robot 6 and the third set of human-machine cooperation robot 7 have the same structure as the first set of human-machine cooperation robot 4. The man-machine cooperation robot is the content of the prior art, and the working principle and the structure of the device can be referred to CN111037415A chinese patent "a flexible automatic polishing device and polishing method for composite material for airplane repair", after being connected with the control assembly, the device can move the polisher according to the preset working path and polish the surface of the workpiece.
The slider 10 includes vertical rollers 10a disposed at the left and right ends of the slider, horizontal rollers 10b disposed at the upper and lower ends of the slider, and a fixing plate 10c, and the vertical rollers 10a, the horizontal rollers 10c, and the flange plate 11 are all mounted on the fixing plate 10 c. In the process that the vertical roller 10a rolls along the long channel steel, the horizontal roller 10b rolls along the upper wing plate and the lower wing plate of the long channel steel, so that the connection stability of the slider 10 and the long channel steel and the stability of the sliding process can be enhanced.
As shown in fig. 9 and 10, the arc guide rail 6 includes a truss girder, one end of the truss girder is slidably connected to the two-layer platform guide rail 5, the bottom of the truss girder is an arc channel steel 61, a rack 12 is arranged in the arc channel steel 61, and the second set of human-computer cooperative robot 7 is connected with the rack 12 through a gear 13 in a matching manner, so that the second set of human-computer cooperative robot 7 can move along the arc guide rail 6, the gear 13 is connected with a motor 14 to control the rotation of the gear 13, and the position of the second set of human-computer cooperative robot 7 can be remotely and accurately controlled through the gear-rack movement at the back of an aircraft which people hardly reach.
The method for polishing the airplane body by adopting the polishing robot device comprises the following steps,
s1: parking the airplane to a corresponding airplane position;
s2: the fuselage repair platform 2 is moved to the two sides of the airplane through the traveling crane 1, and the moving position is determined according to the appearance of the fuselage and the working space of the man-machine cooperation robot;
s3: the first set of man-machine cooperation robot 4 on the platform guide rail 3 is movably connected to a target position, the first set of man-machine cooperation robot 4 is locked, the locking part 11a is inserted into the hole of the flange plate 11 and the positioning hole on the platform guide rail 3 and fixed, the sliding block 10 can be locked, and then the position of the first set of man-machine cooperation robot 4 is locked;
s4: moving an arc guide rail 6 on a second-layer platform guide rail 5 to a target position, locking the arc guide rail 6, wherein the second-layer platform guide rail 5 is also a long channel steel, the arc guide rail 6 is installed on the second-layer platform guide rail 5 through a sliding seat 62, the sliding seat 62 can be the same as the sliding block 10 in structure, the locking mode is the same as that of the sliding block 10 on the first-layer platform guide rail, and then adjusting a second set of robot-assisted robot 7 to the target position in a mode that a motor 14 controls a gear 13 to move relative to a rack;
s5: moving the traveling vehicle 8 to a target position, adjusting the traveling vehicle 8 to a predetermined height, and locking the traveling vehicle 8;
s6: the first set of cooperative robot 4, the second set of cooperative robot 7 and the third set of cooperative robot 9 respectively polish the surface of the body of the airplane according to preset polishing paths;
s7: and after finishing the grinding work of one station, repeating the step S3 or the step S4 or the step S5, moving the first set of cooperative robots 4 or the second set of cooperative robots 7 or the third set of cooperative robots 9 to another station, and grinding the surface of the body of the airplane according to the preset grinding path of the other station.
The utility model discloses a device will drive a vehicle 1, repair platform 2, the combination of man-machine cooperation robot, and the side of aircraft fuselage can be covered in the route of polishing of the first set of man-machine cooperation robot 4 of installation on one deck platform guide rail 3, installs circular arc guide rail 6 on the two-layer platform guide rail 5, installs second set man-machine cooperation robot 7 on circular arc guide rail 6, makes its route of polishing can cover the back of aircraft fuselage, has realized the semi-automatization operation that fuselage side, back were polished.
The above embodiments of the present invention are not right the utility model discloses the limited protection scope, the utility model discloses an embodiment is not limited to this, all kinds of basis according to the above-mentioned of the utility model discloses an under the above-mentioned basic technical thought prerequisite of the utility model, right according to ordinary technical knowledge and the conventional means in this field the modification, replacement or the change of other multiple forms that above-mentioned structure made all should fall within the protection scope of the utility model.
Claims (6)
1. The utility model provides an aircraft outward appearance polishing robot device, includes that the fuselage of connection on the driving is repaired platform and man-machine cooperation robot, its characterized in that, one deck platform guide rail and bilayer platform guide rail are installed to fuselage repair platform along the fuselage direction of aircraft, still installs and to follow the one deck platform guide rail removes, is used for polishing the first set of man-machine cooperation robot of aircraft fuselage side and can follow the circular arc guide rail that bilayer platform guide rail removed, the appearance adaptation at circular arc guide rail and aircraft fuselage top to the installation is used for polishing the second set of man-machine cooperation robot of aircraft fuselage back, aircraft outward appearance polishing robot device still includes portable, liftable's walking car, the installation is used for polishing the abdominal third set of man-machine cooperation robot of aircraft fuselage on the walking car.
2. An aircraft appearance finishing robot apparatus as defined in claim 1, wherein: the fuselage repair platforms are symmetrically arranged on two sides of the fuselage of the airplane.
3. An aircraft appearance finishing robot apparatus as defined in claim 2, wherein: the one deck platform guide rail is for following the fixed setting of fuselage direction of aircraft microscler channel-section steel on the platform is repaired to the fuselage, the slider is installed to the inslot of microscler channel-section steel, the slider passes through the ring flange and connects first set of man-machine cooperation robot, still seted up one row of locating hole on the microscler channel-section steel, the ring flange with install detachable locking part between the locating hole.
4. An aircraft appearance finishing robot apparatus as defined in claim 3, wherein: the slider is still including locating the perpendicular gyro wheel at both ends about the slider and locating the horizontal gyro wheel at both ends about the slider.
5. An aircraft appearance finishing robot apparatus as defined in claim 2, wherein: the circular arc guide rail comprises a truss girder, one end of the truss girder is slidably connected to the two-layer platform guide rail, the bottom of the truss girder is an arc-shaped channel steel, a rack is arranged in the arc-shaped channel steel, and the second set of human-computer cooperation robots are connected with the rack through gear matching, so that the second set of human-computer cooperation robots can move along the circular arc guide rail, and the gear is connected with a motor and controls the gear to rotate.
6. An aircraft appearance grinding robot apparatus according to any one of claims 1 to 5, wherein: the man-machine cooperation robot comprises a mechanical arm, a constant-force flexible connecting arm and a sander which are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023173586.1U CN215240028U (en) | 2020-12-25 | 2020-12-25 | Aircraft outward appearance polishing robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023173586.1U CN215240028U (en) | 2020-12-25 | 2020-12-25 | Aircraft outward appearance polishing robot device |
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| CN215240028U true CN215240028U (en) | 2021-12-21 |
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| CN202023173586.1U Active CN215240028U (en) | 2020-12-25 | 2020-12-25 | Aircraft outward appearance polishing robot device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743431A (en) * | 2020-12-25 | 2021-05-04 | 广州飞机维修工程有限公司 | Aircraft surface polishing robot device and polishing method |
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- 2020-12-25 CN CN202023173586.1U patent/CN215240028U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743431A (en) * | 2020-12-25 | 2021-05-04 | 广州飞机维修工程有限公司 | Aircraft surface polishing robot device and polishing method |
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