阅读说明：本技术 一种飞机翼盒装配过程中复材壁板的转运方法 (Method for transferring composite material wall plate in aircraft wing box assembling process ) 是由 陈程 李卫平 张莹莹 田芳方 骆佩君 于 2021-07-27 设计创作，主要内容包括：本申请公开了一种飞机翼盒装配过程中复材壁板的转运方法,使用上/下壁板保型架、卧式装配系统壁板定位升降机构、壁板翻转机构、AGV运输车、上壁板保型架吊挂、立式存放清洗装置来实现壁板的转运,上/下壁板保型架安装在卧式装配系统壁板定位升降机构上,通过卧式装配系统壁板定位升降机构将壁板精确调姿定位到目标位置；壁板翻转机构包括两侧的翻转立柱与中间的围框,围框上下框面上分别安装有上/下壁板的内形卡板,翻转立柱上设有翻转机构和升降机构,翻转机构带动围框实现180°翻转,升降机构带动围框上下运动,实现壁板立式与卧式两状态的转换。(The application discloses a method for transferring a composite wallboard in the process of assembling an aircraft wing box, wherein the transportation of the wallboard is realized by using an upper/lower wallboard shaping frame, a horizontal assembly system wallboard positioning and lifting mechanism, a wallboard turnover mechanism, an AGV (automatic guided vehicle) transport vehicle, an upper wallboard shaping frame hanger and a vertical storage and cleaning device, the upper/lower wallboard shaping frame is arranged on the horizontal assembly system wallboard positioning and lifting mechanism, and the wallboard is accurately adjusted and positioned to a target position through the horizontal assembly system wallboard positioning and lifting mechanism; the wallboard turnover mechanism comprises turnover upright posts on two sides and a middle surrounding frame, wherein the upper and lower frame surfaces of the surrounding frame are respectively provided with an inner-shaped clamping plate of an upper wallboard and a lower wallboard, the turnover upright posts are provided with turnover mechanisms and lifting mechanisms, the turnover mechanisms drive the surrounding frame to realize 180-degree turnover, and the lifting mechanisms drive the surrounding frame to move up and down, so that the wallboard is converted between a vertical state and a horizontal state.)

1. A method for transferring a composite wallboard in the process of assembling an aircraft wing box is characterized in that an upper/lower wallboard shaping frame, a horizontal assembly system wallboard positioning and lifting mechanism, a wallboard turnover mechanism, an AGV (automatic guided vehicle) transport vehicle, an upper wallboard shaping frame hanger and a vertical storage and cleaning device are used for transferring the wallboard, the upper/lower wallboard shaping frame is positioned with the wallboard through an ear positioner on the upper/lower wallboard shaping frame, the outer surface of the wallboard is adsorbed and tensioned through a sucking disc, the upper/lower wallboard shaping frame is installed on the horizontal assembly system wallboard positioning and lifting mechanism, and the wallboard is accurately adjusted in posture and positioned to a target position through the horizontal assembly system wallboard positioning and lifting mechanism; the wall plate turnover mechanism comprises turnover upright posts on two sides and a surrounding frame in the middle, wherein inner-shaped clamping plates for fixing an upper wall plate and a lower wall plate are respectively arranged on the upper frame surface and the lower frame surface of the surrounding frame, two ends of each clamping plate are provided with tensioning belts for fixing the wall plates, one side of the surrounding frame, on which the inner-shaped clamping plates for fixing the upper wall plate are arranged, is also provided with an upper wall plate shape-keeping frame positioning mechanism, the turnover upright posts are provided with turnover mechanisms and lifting mechanisms, the turnover mechanisms drive the surrounding frame to turn over for 180 degrees, and the lifting mechanisms drive the surrounding frame to move up and down, so that the vertical state and the horizontal state of the wall plates are converted; the AGV drives the lower wall plate shape-preserving frame to transfer the lower wall plate to a specified position; the crane transfers the upper wall plate shape-keeping frame and the upper wall plate to a specified position through the hanging of the upper wall plate shape-keeping frame; vertical belt cleaning device of depositing includes bottom frame and wallboard suspension mechanism, the bottom frame is by square steel welding combination, two rows of support post intervals are greater than the AGV transport vechicle width, the bottom frame height is greater than the AGV transport vechicle height, wallboard suspension mechanism fixes on the bottom frame, its left and right sides is equipped with respectively/lower wallboard ear locator and hangs the wallboard, the AGV transport vechicle removes to bottom frame below top formula along length direction and deposits belt cleaning device and transport appointed position with it.

2. The method for transferring the composite material wall plate in the assembly process of the aircraft wing box according to claim 1, wherein the upper wall plate shape-keeping frame positioning mechanism comprises 4 zero point positioners and 4 cup cones, which are respectively installed on the enclosure frame, the cup cones realize the coarse positioning of the upper wall plate shape-keeping frame and the enclosure frame, and the zero point positioners realize the precise positioning and tensioning of the upper wall plate shape-keeping frame and the enclosure frame.

3. The method for transferring the composite material wall plate in the assembly process of the aircraft wing box according to claim 1, wherein the lifting mechanism consists of 2 guide rails, 1 lead screw and a motor, the guide rails are fixed on a turnover upright post, and a guide rail slide block is connected with a turnover mechanism for guiding; the screw rod is fixed on the turnover stand column, the screw rod nut is connected with the turnover mechanism, and the motor drives the screw rod to rotate to drive the screw rod nut and the turnover mechanism to lift up and down.

4. The method for transferring the composite material wall plate in the assembly process of the aircraft wing box according to claim 1, wherein the turnover mechanism comprises a spiral speed reducer and a motor, a fixed end of the spiral speed reducer is connected with a screw nut of the lifting mechanism through a connecting piece, a rotating end of the spiral speed reducer is connected with the enclosure frame, and the motor drives the rotating end of the spiral speed reducer to rotate so as to turn the enclosure frame.

5. The method of claim 1, wherein the panel suspension mechanism is a T-shaped structure comprising alternating longitudinal and transverse beams, wherein the transverse beams have upper panel tab retainers suspended from one end and lower panel tab retainers suspended from the other end.

6. The method of claim 1, further comprising the steps of:

6-1, vertically storing the upper wall plate on a vertical storage and cleaning device through a wall plate hanging mechanism;

6-2, the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wall plate turnover mechanism is in a vertical state;

6-3, moving the vertical storage and cleaning device with the upper wallboard to the vicinity of the side face of the wallboard turnover mechanism surrounding frame provided with the upper wallboard inner-shaped clamping plate through the AGV transport vehicle;

6-4, transferring and positioning the upper wall plate to an inner-shaped clamping plate of the upper wall plate of the enclosure frame, and driving the vertical storage and cleaning device to evacuate by the AGV transport vehicle;

6-5, driving the enclosure frame to turn over through a turning mechanism in the wall plate turning mechanism, and turning the upper wall plate upwards by 90 degrees to be in a horizontal state;

6-6, hoisting the upper wall plate shape-preserving frame to an enclosure frame of the wall plate turnover mechanism by a crane through the upper wall plate shape-preserving frame, and connecting and installing the upper wall plate and the upper wall plate shape-preserving frame after being positioned by an upper wall plate shape-preserving frame positioning mechanism;

6-7, hoisting the upper wall plate and the upper wall plate shape-preserving frame to a positioning lifting mechanism of the upper wall plate of the horizontal assembly system by a crane through the hanging of the upper wall plate shape-preserving frame;

6-8, accurately adjusting the position of the wall plate to an assembly target position through a wall plate positioning lifting mechanism of the horizontal assembly system;

6-9, decomposing the upper wall plate shape-keeping frame and the upper wall plate on the frame, and moving the upper wall plate shape-keeping frame to a shape-keeping frame placing frame by a crane through the upper wall plate shape-keeping frame hanging;

6-10, starting hole making work of the upper wall plate;

6-11, completing hole making work, hoisting and transporting the upper wall plate shape-preserving frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system by a crane through the upper wall plate shape-preserving frame hoisting, after the upper wall plate shape-preserving frame and the upper wall plate are connected on the frame, hoisting and moving the upper wall plate shape-preserving frame and the upper wall plate together to the wall plate turnover mechanism surrounding frame, and positioning the upper wall plate shape-preserving frame and the upper wall plate turnover mechanism by an upper wall plate shape-preserving frame positioning mechanism;

6-12, decomposing the upper wall plate and the upper wall plate shape keeping frame, and connecting the upper wall plate with an inner shape clamping plate of the upper wall plate of the enclosure frame;

6-13 the turnover mechanism drives the enclosure frame to turn over the upper wall plate by 90 degrees to a vertical state;

6-14, moving the vertical storage and cleaning device to the vicinity of the side surface of the wallboard turnover mechanism provided with the upper wallboard inner-shaped clamping plate through an AGV transport vehicle;

6-15, separating the upper wall plate from the inner-shaped clamping plate of the upper wall plate of the enclosure frame, and transferring the upper wall plate and the inner-shaped clamping plate to a vertical storage and cleaning device;

6-16, moving the vertical storage cleaning device to a cleaning area through an AGV (automatic guided vehicle) to perform cleaning and deburring work;

6-17, after the cleaning and deburring work is finished, moving the vertical storage cleaning device to the position close to the side face of the turnover mechanism provided with the upper wallboard inner-shaped clamping plate through an AGV transport vehicle;

6-18, rotating the upper wall plate to a wall plate turnover mechanism to be connected with the upper wall plate inner-shaped clamping plate, and driving the enclosure frame to turn upwards by 90 degrees by the turnover mechanism to be turned to be in a horizontal state;

6-19 hoisting the upper wall plate shape-keeping frame to the wall plate turnover mechanism surrounding frame by the crane through the upper wall plate shape-keeping frame hanger, and connecting and installing the upper wall plate and the upper wall plate shape-keeping frame after the upper wall plate shape-keeping frame hanger is positioned by the upper wall plate shape-keeping frame positioning mechanism;

6-20 hoisting the upper wall plate and the upper wall plate shape-keeping frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system by a crane through the upper wall plate shape-keeping frame hanger, and accurately adjusting the posture and positioning to reset the wall plate;

6-21, decomposing the upper wall plate shape-keeping frame and the upper wall plate on the frame, and hoisting and moving the upper wall plate shape-keeping frame to the shape-keeping frame placing frame by a crane through the upper wall plate shape-keeping frame hanger;

6-22, completing the connection of the upper wall plate and the wing box framework, and completing the assembly work of the upper wall plate;

6-23, vertically storing the lower wall plates on the vertical storage and cleaning device through a wall plate hanging mechanism;

6-24, the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wall plate turnover mechanism is in a vertical state;

6-25, moving the vertical storage cleaning device with the lower wallboard to the vicinity of the side face of the wallboard turnover mechanism surrounding frame provided with the lower wallboard inner shape clamping plate through an AGV transport vehicle;

6-26, transferring and positioning the lower wall plate to an inner-shaped clamping plate of the lower wall plate of the enclosing frame, and driving the vertical storage cleaning device to evacuate by the AGV transport vehicle;

6-27, driving the enclosure frame to turn over through a turning mechanism in the wall plate turning mechanism, turning the lower wall plate downwards by 90 degrees to be in a horizontal state, and driving the enclosure frame to descend to an appointed height through a lifting mechanism in the wall plate turning mechanism;

6-28, the AGV transports the lifting lower wall plate shape-keeping frame to move to a specified position under the enclosing frame and lift to the outer surface of the lower wall plate, and the lower wall plate shape-keeping frame are connected and installed;

6-29, the AGV transports the lifted lower wall plate and the lower wall plate protective frame to move to a lower wall plate positioning lifting mechanism of the horizontal assembly system;

6-30 accurately adjusting the lower wall plate to the assembly target position through a horizontal assembly system wall plate positioning lifting mechanism;

6-31, decomposing the lower wallboard protective frame and the lower wallboard on the frame, and lifting the lower wallboard protective frame by the AGV;

6-32, starting the hole making work of the lower wall plate;

6-33, completing hole making work, lifting the lower wallboard shaping frame by an AGV (automatic guided vehicle), moving the lower wallboard shaping frame to a lower wallboard positioning and lifting mechanism of the horizontal assembly system, connecting the lower wallboard shaping frame and the lower wallboard on the frame, and then lifting and moving the lower wallboard shaping frame and the lower wallboard together to a specified position below the enclosing frame of the wallboard turnover mechanism by the AGV;

6-34 lifting the AGV to the lower wallboard inner shape clamping plate, separating the lower wallboard from the lower wallboard shaping frame, connecting the lower wallboard with the lower wallboard inner shape clamping plate of the enclosing frame, lifting the lower wallboard shaping frame by the AGV, and removing the lower wallboard shaping frame after the lower wallboard shaping frame descends;

6, a lifting mechanism in the wall plate turnover mechanism drives the enclosure frame to rise to a specified height, and the turnover mechanism in the wall plate turnover mechanism drives the enclosure frame to turn over, so that the lower wall plate is turned over by 90 degrees to be in a vertical state;

6-36 moving the vertical storage and cleaning device to the vicinity of the side surface of the wallboard turnover mechanism provided with the lower wallboard inner shape clamping plate through the AGV transport vehicle;

6-37, separating the lower wall plate from the inner-shaped clamping plate of the lower wall plate of the enclosure frame, and transferring the lower wall plate to a vertical storage and cleaning device;

6-38, moving the vertical storage cleaning device to a cleaning area through an AGV (automatic guided vehicle) to perform cleaning and deburring work;

6-39, after the cleaning and deburring work is finished, the vertical storage cleaning device is moved to the position close to the side face of the wallboard turnover mechanism provided with the lower wallboard inner-shaped clamping plate through an AGV transport vehicle;

6-40, rotating the lower wall plate to a wall plate turnover mechanism to be connected with the lower wall plate inner-shaped clamping plate, driving the enclosing frame to turn downwards by 90 degrees through the turnover mechanism, turning to be in a horizontal state, and driving the enclosing frame to descend to an appointed height through a lifting mechanism in the wall plate turnover mechanism;

6-41, the AGV transports the lifting lower wall plate shape-keeping frame to move to the lower appointed position of the enclosing frame and lift to the outer surface of the lower wall plate, and the lower wall plate shape-keeping frame are connected and installed;

lifting the lower wallboard and the lower wallboard shaping frame by the 6-42 AGV transport vehicle, descending the lower wallboard and the lower wallboard shaping frame, moving the lower wallboard and the lower wallboard shaping frame to a lower wallboard positioning and lifting mechanism of the horizontal assembly system, and accurately adjusting the posture and positioning to reset the wallboard;

6-43, disassembling the lower wall plate and the lower wall plate protective frame on the frame, and lifting the lower wall plate protective frame by the AGV;

6-44, completing the connection of the lower wall plate and the wing box framework and completing the assembly work of the lower wall plate.

Technical Field

The application relates to the field of aircraft wing assembly manufacturing, in particular to a method for transferring a composite wallboard in an aircraft wing box assembly process.

Background

The assembly technological process of the wallboard in the assembly and manufacturing process of the aircraft wing is the most complicated and comprises storage, turnover transportation/lifting, on-frame positioning, off-frame cleaning and deburring and the like, when a wing box general assembly station adopts horizontal assembly, the postures of the wallboard at different stations are different, the wallboard is vertical when stored and off-frame cleaned and deburred, the assembly station is horizontal, the wallboard needs to be maintained in the transfer process while the requirements are met, in the past, the turnover of the wallboard in the wing box assembly process is realized by adopting a mode of designing, turning, lifting and lifting, but the mode needs to be used for installing lifting joints on the wallboard to cause stress concentration at the connecting positions of the surfaces of the wallboard and the joints to influence products, the deformation of the wallboard products is uncontrollable in the lifting process, and if the mode is also adopted for a composite wallboard, plastic deformation of the composite product can be possibly caused by the plastic deformation, The internal damage, the secret injury, destruction such as crackle, and because the focus of every wallboard is different, different wallboards just need design different hanging, the commonality is not strong, the installation of technology joint is wasted time and energy and can cause unnecessary trouble in follow-up wing box final assembly assembling process with the dismantlement, from aspects such as product safety, convenient, the resource utilization consider that this kind of handling mode has all been not suitable for the transportation of compound material wallboard in the aircraft wing box assembling process, consequently, it is necessary to develop a transportation method of compound material wallboard in the aircraft wing box assembling process.

Disclosure of Invention

The application aims to provide a method for transferring a composite wall plate in the process of assembling an aircraft wing box, and the method can be suitable for the process flow of the wall plate assembling process in the process of assembling the aircraft wing.

In order to achieve the above purpose, the following technical scheme is adopted to realize the purpose:

a method for transferring a composite wallboard in the process of assembling an aircraft wing box is characterized in that an upper/lower wallboard shaping frame, a horizontal assembly system wallboard positioning and lifting mechanism, a wallboard turnover mechanism, an AGV (automatic guided vehicle) transport vehicle, an upper wallboard shaping frame hanger and a vertical storage and cleaning device are used for transferring the wallboard, the upper/lower wallboard shaping frame is positioned with the wallboard through an ear positioner on the upper/lower wallboard shaping frame and adsorbs and strains the outer surface of the wallboard through a sucking disc, the upper/lower wallboard shaping frame is installed on the horizontal assembly system wallboard positioning and lifting mechanism, and the wallboard is accurately adjusted in posture and positioned to a target position through the horizontal assembly system wallboard positioning and lifting mechanism; the wall plate turnover mechanism comprises turnover upright posts on two sides and a surrounding frame in the middle, wherein inner-shaped clamping plates for fixing an upper wall plate and a lower wall plate are respectively arranged on the upper frame surface and the lower frame surface of the surrounding frame, two ends of each clamping plate are provided with tensioning belts for fixing the wall plates, one side of the surrounding frame, on which the inner-shaped clamping plates for fixing the upper wall plate are arranged, is also provided with an upper wall plate shape-keeping frame positioning mechanism, the turnover upright posts are provided with turnover mechanisms and lifting mechanisms, the turnover mechanisms drive the surrounding frame to turn over for 180 degrees, and the lifting mechanisms drive the surrounding frame to move up and down, so that the vertical state and the horizontal state of the wall plates are converted; the AGV drives the lower wall plate shape-preserving frame to transfer the lower wall plate to a specified position; the crane transfers the upper wall plate shape-keeping frame and the upper wall plate to a specified position through the hanging of the upper wall plate shape-keeping frame; vertical belt cleaning device of depositing includes bottom frame and wallboard suspension mechanism, the bottom frame is by square steel welding combination, two rows of support post intervals are greater than the AGV transport vechicle width, the bottom frame height is greater than the AGV transport vechicle height, wallboard suspension mechanism fixes on the bottom frame, its left and right sides is equipped with respectively/lower wallboard ear locator and hangs the wallboard, the AGV transport vechicle removes to bottom frame below top formula along length direction and deposits belt cleaning device and transport appointed position with it.

Go up wallboard shape-preserving frame positioning mechanism and constitute by 4 zero point locator and 4 cup awl, install respectively on enclosing the frame, the thick location of wallboard shape-preserving frame and enclosing the frame is realized to the cup awl, and zero point locator realizes going up wallboard shape-preserving frame and enclosing the accurate positioning and the tensioning of frame.

The lifting mechanism consists of 2 guide rails, 1 lead screw and a motor, the guide rails are fixed on the turnover upright posts, and the guide rail sliding blocks are connected with the turnover mechanisms to play a role in guiding; the screw rod is fixed on the turnover stand column, the screw rod nut is connected with the turnover mechanism, and the motor drives the screw rod to rotate to drive the screw rod nut and the turnover mechanism to lift up and down.

The turnover mechanism is composed of a spiral speed reducer and a motor, the fixed end of the spiral speed reducer is connected with a lead screw nut of the lifting mechanism through a connecting piece, the rotating end of the spiral speed reducer is connected with the surrounding frame, and the motor drives the rotating end of the spiral speed reducer to rotate to realize the turnover of the surrounding frame.

The wallboard suspension mechanism is of a T-shaped structure formed by alternating transverse beams and longitudinal beams, an upper wallboard lug positioner is suspended at one end of each transverse beam, and a lower wallboard lug positioner is suspended at the other end of each transverse beam.

The method and the process for transferring the composite material wall plate in the assembly process of the aircraft wing box by using the equipment are as follows:

1. the upper wallboard is vertically stored on the vertical storage and cleaning device through the wallboard hanging mechanism;

2. the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wall plate turnover mechanism is arranged in a vertical state;

3. moving the vertical storage and cleaning device with the upper wall plate to the vicinity of the side face of the wall plate turnover mechanism surrounding frame provided with the upper wall plate inner-shaped clamping plate through an AGV transport vehicle;

4. transferring and positioning the upper wall plate to an inner-shaped clamping plate of the upper wall plate of the enclosure frame, and driving the vertical storage and cleaning device to evacuate by the AGV transport vehicle;

5. the wall plate turnover mechanism drives the enclosure frame to turn over, and the upper wall plate is turned upwards by 90 degrees to be in a horizontal state;

6. the crane hoists the upper wall plate shape-preserving frame to the surrounding frame of the wall plate turnover mechanism through the upper wall plate shape-preserving frame hoisting, and the upper wall plate shape-preserving frame are connected and installed after being positioned by the upper wall plate shape-preserving frame positioning mechanism;

7. the crane lifts and transports the upper wall plate and the upper wall plate shape-preserving frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-preserving frame hanging;

8. accurately adjusting the posture of the wall plate to an assembly target position through a wall plate positioning lifting mechanism of the horizontal assembly system;

9. decomposing the upper wall plate shape-preserving frame and the upper wall plate on the frame, and moving the upper wall plate shape-preserving frame to a shape-preserving frame placing frame by a crane through the upper wall plate shape-preserving frame hanging;

10. starting hole making work of the upper wall plate;

11. completing hole making work, hoisting the upper wall plate shape-preserving frame to an upper wall plate positioning lifting mechanism of the horizontal assembly system by using a crane through an upper wall plate shape-preserving frame hanger, connecting the upper wall plate shape-preserving frame and the upper wall plate on the frame, hoisting the upper wall plate shape-preserving frame and the upper wall plate together to the wall plate turnover mechanism enclosure frame, and positioning the upper wall plate shape-preserving frame and the upper wall plate shape-preserving frame by using an upper wall plate shape-preserving frame positioning mechanism;

12. the upper wall plate and the upper wall plate shape-keeping frame are decomposed, and the upper wall plate is connected with an inner shape clamping plate of the upper wall plate of the enclosure frame;

13. the turnover mechanism drives the enclosure frame to turn over the upper wall plate by 90 degrees to a vertical state;

14. moving the vertical storage and cleaning device to the vicinity of the side face of the wallboard turnover mechanism provided with the upper wallboard inner-shaped clamping plate through the AGV transport vehicle;

15. separating the upper wall plate from the inner-shaped clamping plate of the upper wall plate of the enclosure frame, and transferring the upper wall plate and the inner-shaped clamping plate to a vertical storage and cleaning device;

16. moving the vertical storage cleaning device to a cleaning area through an AGV (automatic guided vehicle) to perform cleaning and deburring work;

17. after cleaning and deburring work is finished, the vertical storage cleaning device is moved to the position close to the side face of the turnover mechanism provided with the upper wall plate inner-shaped clamping plate through the AGV transport vehicle;

18. the upper wall plate is rotated to a wall plate turnover mechanism to be connected with the upper wall plate inner-shaped clamping plate, and the turnover mechanism drives the enclosure frame to be turned upwards by 90 degrees and turned to be in a horizontal state;

19. the crane hoists the upper wall plate shape-keeping frame to the wall plate turnover mechanism surrounding frame through the upper wall plate shape-keeping frame hanger and positions the upper wall plate shape-keeping frame through the upper wall plate shape-keeping frame positioning mechanism, and then the upper wall plate and the upper wall plate shape-keeping frame are connected and installed;

20. the crane hoists the upper wall plate and the upper wall plate shape-keeping frame to the upper wall plate positioning lifting mechanism of the horizontal assembly system through the upper wall plate shape-keeping frame hoisting, and the wall plate is reset by accurately adjusting the posture and positioning;

21. decomposing the upper wall plate shape-preserving frame and the upper wall plate on the frame, and hoisting and moving the upper wall plate shape-preserving frame to the shape-preserving frame placing frame by a crane through the upper wall plate shape-preserving frame hanger;

22. completing the connection between the upper wall plate and the wing box framework and completing the assembly work of the upper wall plate;

23. the lower wall plate is vertically stored on the vertical storing and cleaning device through the wall plate hanging mechanism;

24. the turnover mechanism drives the surrounding frame to turn over so that the surrounding frame of the wall plate turnover mechanism is arranged in a vertical state;

25. moving the vertical storage and cleaning device with the lower wall plate to the vicinity of the side face of the wall plate turnover mechanism surrounding frame provided with the lower wall plate inner-shaped clamping plate through an AGV transport vehicle;

26. transferring and positioning the lower wall plate to an inner-shaped clamping plate of the lower wall plate of the enclosing frame, and driving the vertical storage cleaning device to evacuate by the AGV transport vehicle;

27. the wall plate turnover mechanism drives the enclosure frame to turn over, the lower wall plate is turned downwards by 90 degrees to be in a horizontal state, and the lifting mechanism in the wall plate turnover mechanism drives the enclosure frame to descend to a specified height;

28. the AGV transporting vehicle lifts the lower wall plate shape-keeping frame to move to a specified position below the enclosure frame and lifts the lower wall plate to the outer surface of the lower wall plate, and the lower wall plate is connected with the lower wall plate shape-keeping frame;

29. the AGV transports the lower wall plate and the lower wall plate holding frame to move to a lower wall plate positioning and lifting mechanism of the horizontal assembly system;

30. accurately adjusting the posture of the lower wall plate to an assembly target position through a wall plate positioning lifting mechanism of the horizontal assembly system;

31. decomposing the lower wallboard shape-preserving frame and the lower wallboard on the frame, and lifting the lower wallboard shape-preserving frame by the AGV;

32. starting hole making work of the lower wall plate;

33. after the hole making work is finished, the lower wallboard shaping frame is lifted by the AGV transport vehicle and moves to the lower wallboard positioning and lifting mechanism of the horizontal assembly system, the lower wallboard shaping frame and the lower wallboard are connected on the frame, and then the lower wallboard shaping frame and the lower wallboard are lifted by the AGV transport vehicle and move to a specified position below the enclosing frame of the wallboard turnover mechanism;

34. lifting the AGV to the position of the lower wallboard inner shape clamping plate, separating the lower wallboard from the lower wallboard shaping frame, connecting the lower wallboard with the lower wallboard inner shape clamping plate of the enclosure frame, and lifting the lower wallboard shaping frame by the AGV and then removing the lower wallboard shaping frame after the lower wallboard shaping frame descends;

35. the lifting mechanism in the wall plate turnover mechanism drives the enclosure frame to rise to a specified height, the turnover mechanism in the wall plate turnover mechanism drives the enclosure frame to turn over, and the lower wall plate is turned over by 90 degrees to be in a vertical state;

36. moving the vertical storage and cleaning device to the vicinity of the side face of the wallboard turnover mechanism provided with the lower wallboard inner-shaped clamping plate through the AGV transport vehicle;

37. separating the lower wall plate from the inner-shaped clamping plate of the lower wall plate of the enclosure frame, and transferring the lower wall plate to a vertical storage and cleaning device;

38. moving the vertical storage cleaning device to a cleaning area through an AGV (automatic guided vehicle) to perform cleaning and deburring work;

39. after cleaning and deburring work is finished, the vertical storage cleaning device is moved to the position close to the side face of the wallboard turnover mechanism provided with the lower wallboard inner-shaped clamping plate through an AGV (automatic guided vehicle);

40. the lower wall plate is rotated to a wall plate turnover mechanism to be connected with the lower wall plate inner-shaped clamping plate, the turnover mechanism drives the enclosure frame to turn downwards by 90 degrees and turn to a horizontal state, and the lifting mechanism in the wall plate turnover mechanism drives the enclosure frame to descend to a specified height;

41. the AGV transporting vehicle lifts the lower wall plate shape-keeping frame to move to a specified position below the enclosure frame and lifts the lower wall plate to the outer surface of the lower wall plate, and the lower wall plate is connected with the lower wall plate shape-keeping frame;

42. lifting the lower wallboard and the lower wallboard shaping frame by the AGV, descending the lower wallboard and moving the lower wallboard shaping frame to a lower wallboard positioning and lifting mechanism of the horizontal assembly system, and accurately adjusting the posture and positioning to reset the wallboard;

43. decomposing the lower wall plate and the lower wall plate protective frame on the frame, and lifting the lower wall plate protective frame by the AGV;

44. and finishing the connection of the lower wall plate and the wing box framework and finishing the assembly work of the lower wall plate.

The method has the advantages that the flexible universalization design of the process equipment is utilized to realize the transportation that the composite wall plate contains shape-keeping, positioning, overturning and cleaning in the assembly process of the aircraft wing box, the requirement that one set of process equipment meets a plurality of wing wall plates is met while the product safety is ensured, the method is strong in universality, low in relative cost, full-automatic and the like, and the method has universal applicability to the wall plate product assembly process flow in the assembly process of the aircraft.

The present application will be described in further detail with reference to the following drawings and examples.

Drawings

FIG. 1 is a layout of a method of transferring composite panels during the assembly of an aircraft wing box

FIG. 2 is a schematic view of transferring a lower panel from a vertical storage and cleaning apparatus to a panel turnover mechanism

FIG. 3 is a schematic view of transferring an upper wall plate from a wall plate turnover mechanism to a lower frame

FIG. 4 is a schematic view of transferring a lower wall plate from a wall plate turnover mechanism to a lower frame

The numbering in the figures illustrates: 1. an upper wall plate shape-preserving frame; 2. a lower wall plate shape-keeping frame; 3. a shape-preserving rack placing rack; 4. an AGV transport vehicle; 5. hanging the upper wall plate shape-preserving frame; 6. a vertical storage cleaning device; 7. the wall plate turnover mechanism; 8. turning over the upright post; 9. enclosing a frame; 10. an upper wall plate inner-shaped clamping plate; 11. the lower wall plate is provided with an inner clamping plate; 12. a bottom frame; 13. a panel hanging mechanism; 14. upper/lower wall plate tab retainers; 15. a lower wall plate; 16. an upper wall plate; 17. the upper wall board shape-preserving frame positioning mechanism; 18. a turnover mechanism; 19. a lifting mechanism.

Detailed Description

Referring to fig. 1-4, a method for transferring a composite wallboard in the process of assembling an aircraft wing box uses an upper wallboard shaping frame 1, a lower wallboard shaping frame 2, a horizontal assembly system wallboard positioning and lifting mechanism, a wallboard turnover mechanism 7, an AGV transport vehicle 4, an upper wallboard shaping frame hanger 5 and a vertical storage and cleaning device 6 to transfer the wallboard, wherein the upper/lower wallboard shaping frame is positioned with the wallboard through an ear positioner on the upper/lower wallboard shaping frame, the outer surface of the wallboard is tensioned through suction of a suction disc, the upper/lower wallboard shaping frame is installed on the horizontal assembly system wallboard positioning and lifting mechanism, and the wallboard is accurately adjusted in posture and positioned to a target position through the horizontal assembly system wallboard positioning and lifting mechanism; the wallboard turnover mechanism 7 comprises turnover upright posts 8 at two sides and a surrounding frame 9 in the middle, inner-shaped clamping plates for fixing an upper wallboard and a lower wallboard are respectively arranged on the upper frame surface and the lower frame surface of the surrounding frame 9, tensioning belts for fixing the wallboards are arranged at two ends of the clamping plates, an upper wallboard inner-shaped clamping plate 10 side is arranged on the surrounding frame 9, an upper wallboard shaping frame positioning mechanism 17 is also arranged at one side, a turnover mechanism 18 and a lifting mechanism 19 are arranged on the turnover upright posts 8, the turnover mechanism 18 drives the surrounding frame 9 to realize 180-degree turnover, and the lifting mechanism 19 drives the surrounding frame 9 to move up and down, so that the vertical state and the horizontal state of the wallboard are converted; the AGV transport vehicle 4 drives the lower wallboard shape-preserving frame 2 to transfer the lower wallboard 15 to a specified position; the crane transfers the upper wall plate shape-keeping frame 1 and the upper wall plate 16 to a designated position through the upper wall plate shape-keeping frame hanger 5; vertical belt cleaning device 6 of depositing includes bottom frame 12 and wallboard suspension mechanism 13, bottom frame 12 is by square steel welding combination, two rows of support post intervals are greater than AGV 4 width of transport vechicle, bottom frame 12 highly is greater than AGV 4 height, wallboard suspension mechanism 13 fixes on bottom frame 12, its left and right sides is equipped with respectively/lower wallboard ear locator 14 and hangs the wallboard, AGV transport vechicle 4 removes to bottom frame 12 below top formula and deposits belt cleaning device 6 and transports it to appointed position along length direction.

Go up wallboard guarantor type frame positioning mechanism 17 and constitute by 4 zero point locator and 4 cup awl, install respectively on enclosing frame 9, the thick location of wallboard guarantor type frame 1 and enclosing frame 9 is realized to the cup awl, and zero point locator realizes going up wallboard guarantor type frame 1 and encloses frame 9's accurate positioning and tensioning.

The lifting mechanism 19 consists of 2 guide rails, 1 lead screw and a motor, the guide rails are fixed on the turnover upright post 8, and a guide rail sliding block is connected with the turnover mechanism 18 to play a role in guiding; the screw is fixed on the turning upright post 8, the screw nut is connected with the turning mechanism 18, and the motor drives the screw to rotate to drive the screw nut and the turning mechanism 18 to realize the up-and-down lifting.

The turnover mechanism 18 is composed of a spiral speed reducer and a motor, the fixed end of the spiral speed reducer is connected with a screw nut of the lifting mechanism 19 through a connecting piece, the rotating end of the spiral speed reducer is connected with the surrounding frame 9, and the motor drives the rotating end of the spiral speed reducer to rotate to realize the turnover of the surrounding frame 9.

The wallboard suspension mechanism 13 is a T-shaped structure formed by alternating transverse beams and longitudinal beams, wherein an upper wallboard lug positioner is suspended at one end of each transverse beam, and a lower wallboard lug positioner is suspended at the other end of each transverse beam.

The method and the process for transferring the composite material wall plate in the assembly process of the aircraft wing box by using the equipment are as follows:

1. the upper wallboard 16 is vertically stored on the vertical storing and cleaning device 6 through the wallboard hanging mechanism 13;

2. the turnover mechanism 18 drives the surrounding frame 9 to turn over so that the surrounding frame 9 of the wallboard turnover mechanism 7 is in a vertical state;

3. moving the vertical storage and cleaning device 6 with the upper wallboard 16 to the vicinity of the side face of the enclosing frame 9 of the wallboard turnover mechanism 7, which is provided with the upper wallboard inner-shaped clamping plate 10, through the AGV transport vehicle 4;

4. the upper wall plate 16 is transferred and positioned to the inner-shaped clamping plate 10 of the upper wall plate of the enclosing frame 9, and the AGV transport vehicle 4 drives the vertical storage and cleaning device 6 to evacuate;

5. the surrounding frame 9 is driven to turn over through a turning mechanism 18 in the wallboard turning mechanism 7, and the upper wallboard 16 is turned upwards by 90 degrees to be in a horizontal state;

6. the crane hoists the upper wall plate shape-keeping frame 1 to the surrounding frame 9 of the wall plate turnover mechanism 7 through the upper wall plate shape-keeping frame hanger 5, and the upper wall plate 16 and the upper wall plate shape-keeping frame 1 are connected and installed after being positioned by the upper wall plate shape-keeping frame positioning mechanism 17;

7. the crane hoists the upper wall plate 16 and the upper wall plate shape-keeping frame 1 together to an upper wall plate positioning lifting mechanism of the horizontal assembly system through an upper wall plate shape-keeping frame hanger 5;

8. accurately adjusting the posture of the wall plate to an assembly target position through a wall plate positioning lifting mechanism of the horizontal assembly system;

9. the upper wall plate shape-keeping frame 1 and the upper wall plate 16 are decomposed on the frame, and the upper wall plate shape-keeping frame 1 is lifted and moved to a shape-keeping frame placing frame 3 through an upper wall plate shape-keeping frame hanger 5 by a crane;

10. starting the hole making work of the upper wall plate 16;

11. finishing hole making work, hoisting the upper wall plate shape-keeping frame 1 to an upper wall plate positioning lifting mechanism of the horizontal assembly system by using a crane through an upper wall plate shape-keeping frame hanger 5, connecting the upper wall plate shape-keeping frame 1 and an upper wall plate 16 on the frame, hoisting the upper wall plate shape-keeping frame 1 and the upper wall plate 16 together to move to an enclosing frame 9 of a wall plate turnover mechanism 7, and positioning the upper wall plate shape-keeping frame by using an upper wall plate shape-keeping frame positioning mechanism 17;

12. the upper wall plate 16 and the upper wall plate shape-keeping frame 1 are disassembled, and the upper wall plate 16 is connected with the upper wall plate inner-shaped clamping plate 10 of the enclosure frame 9;

13. the turnover mechanism 18 drives the enclosure frame 9 to turn over the upper wall plate 16 by 90 degrees to a vertical state;

14. moving the vertical storage and cleaning device 6 to the vicinity of the side surface of the wallboard turnover mechanism 7 provided with the upper wallboard inner-shaped clamping plate 10 through the AGV transport vehicle 4;

15. separating the upper wall plate 16 from the inner-shaped clamping plate 10 of the upper wall plate of the enclosure frame 9, and transferring the upper wall plate to the vertical storage and cleaning device 6;

16. the vertical storage cleaning device 6 is moved to a cleaning area through the AGV transport vehicle 4, and cleaning and deburring work is carried out;

17. after the cleaning and deburring work is finished, the vertical storage cleaning device 6 is moved to the position close to the side face of the turnover mechanism 18 provided with the upper wallboard inner-shaped clamping plate 10 through the AGV transport vehicle 4;

18. the upper wall plate 16 is rotated to the wall plate turnover mechanism 7 to be connected with the upper wall plate inner-shaped clamping plate 10, and the turnover mechanism 18 drives the enclosure frame 9 to be turned upwards by 90 degrees and turned to be in a horizontal state;

19. the crane hoists the upper wall plate shape-keeping frame 1 to the surrounding frame 9 of the wall plate turnover mechanism 7 through the upper wall plate shape-keeping frame hanger 5 and positions the upper wall plate shape-keeping frame through the upper wall plate shape-keeping frame positioning mechanism 17, and then the upper wall plate 16 and the upper wall plate shape-keeping frame 1 are connected and installed;

20. the crane hoists the upper wall plate 16 and the upper wall plate shape-keeping frame 1 to an upper wall plate positioning lifting mechanism of the horizontal assembly system through an upper wall plate shape-keeping frame hanger 5, and the wall plate is reset by accurately adjusting the posture and positioning;

21. decomposing the upper wallboard shape-preserving frame 1 and the upper wallboard 16 on the frame, and hoisting and moving the upper wallboard shape-preserving frame 1 to the shape-preserving frame placing frame 3 through the upper wallboard shape-preserving frame hanger 5 by a crane;

22. completing the connection of the upper wall plate 16 and the wing box framework and completing the assembly work of the upper wall plate 16;

23. the lower wall plate 15 is vertically stored on the vertical storing and cleaning device 6 through the wall plate hanging mechanism 13;

24. the turnover mechanism 18 drives the surrounding frame 9 to turn over so that the surrounding frame 9 of the wallboard turnover mechanism 7 is in a vertical state;

25. moving the vertical storage and cleaning device 6 with the lower wallboard 15 to the vicinity of the side face of the enclosing frame 9 of the wallboard overturning mechanism 7, which is provided with the lower wallboard inner-shaped clamping plate 11, through the AGV transport vehicle 4;

26. the lower wall plate 15 is transferred and positioned to the inner-shaped clamping plate 11 of the lower wall plate of the enclosing frame 9, and the AGV transport vehicle 4 drives the vertical storage and cleaning device 6 to evacuate;

27. the enclosure frame 9 is driven to turn over through a turning mechanism 18 in the wall plate turning mechanism 7, the lower wall plate 15 is turned downwards by 90 degrees to be in a horizontal state, and a lifting mechanism 19 in the wall plate turning mechanism 7 drives the enclosure frame 9 to descend to a specified height;

28. the AGV transporting vehicle 4 lifts the lower wall plate shape-keeping frame 2 to move to a specified position below the enclosing frame 9 and lift to the outer surface of the lower wall plate 15, and the lower wall plate 15 and the lower wall plate shape-keeping frame 2 are connected and installed;

29. the AGV transporting vehicle 4 lifts the lower wall plate 15 and the lower wall plate shape-preserving frame 2 to move to the lower wall plate positioning lifting mechanism of the horizontal assembly system;

30. the lower wall plate 15 is accurately adjusted and positioned to the assembly target position through a wall plate positioning lifting mechanism of the horizontal assembly system;

31. the lower wallboard protective frame 2 and the lower wallboard 15 are disassembled on the frame, and the AGV transport vehicle 4 lifts the lower wallboard protective frame 2 to evacuate;

32. starting the hole making work of the lower wall plate 15;

33. finishing hole making work, lifting the lower wall plate protective frame 2 by the AGV transport vehicle 4, moving the lower wall plate protective frame 2 to the lower wall plate positioning and lifting mechanism of the horizontal assembly system, connecting the lower wall plate protective frame 2 and the lower wall plate 15 on the frame, and lifting the lower wall plate protective frame 2 and the lower wall plate protective frame by the AGV transport vehicle 4 to move to a specified position below the enclosing frame 9 of the wall plate turnover mechanism 7;

34. lifting the AGV transport vehicle 4 to the position of the lower wallboard inner-shaped clamping plate 11, separating the lower wallboard 15 from the lower wallboard protective frame 2, connecting the lower wallboard 15 with the lower wallboard inner-shaped clamping plate 11 of the enclosing frame 9, lifting the lower wallboard protective frame 2 by the AGV transport vehicle 4, and withdrawing the lower wallboard protective frame 2 after the lower wallboard protective frame 2 descends;

35. the lifting mechanism 19 in the wall plate turnover mechanism 7 drives the enclosure frame 9 to rise to a specified height, the turnover mechanism 18 in the wall plate turnover mechanism 7 drives the enclosure frame 9 to turn over, and the lower wall plate 15 is turned over by 90 degrees to be in a vertical state;

36. moving the vertical storage and cleaning device 6 to the vicinity of the side surface of the wallboard turnover mechanism 7 provided with the lower wallboard inner-shaped clamping plate 11 through the AGV transport vehicle 4;

37. separating the lower wall plate 15 from the lower wall plate inner-shaped clamping plate 11 of the enclosure frame 9, and transferring the lower wall plate and the enclosure frame to the vertical storage and cleaning device 6;

38. the vertical storage cleaning device 6 is moved to a cleaning area through the AGV transport vehicle 4, and cleaning and deburring work is carried out;

39. after the cleaning and deburring work is finished, the vertical storage cleaning device 6 is moved to the position close to the side face of the wallboard turnover mechanism 7 provided with the lower wallboard inner-shaped clamping plate 11 through the AGV transport vehicle 4;

40. the lower wall plate 15 is rotated to the wall plate turnover mechanism 7 to be connected with the lower wall plate inner-shaped clamping plate 11, the turnover mechanism 18 drives the enclosure frame 9 to turn downwards by 90 degrees and turn to be in a horizontal state, and the lifting mechanism 19 in the wall plate turnover mechanism 7 drives the enclosure frame 9 to descend to a specified height;

41. the AGV transporting vehicle 4 lifts the lower wall plate shape-keeping frame 2 to move to a specified position below the enclosing frame 9 and lift to the outer surface of the lower wall plate, and the lower wall plate 15 and the lower wall plate shape-keeping frame 2 are connected and installed;

42. the AGV transporting vehicle 4 lifts the lower wallboard 15 and the lower wallboard shaping frame 2 to descend and moves the lower wallboard to a lower wallboard positioning and lifting mechanism of the horizontal assembly system, and the wallboard is reset by accurate posture adjustment and positioning;

43. the lower wall plate 15 and the lower wall plate protective frame 2 are disassembled on the frame, and the AGV transport vehicle 4 lifts the lower wall plate protective frame 2 to evacuate;

44. and (4) finishing the connection of the lower wall plate 15 and the wing box framework and finishing the assembly work of the lower wall plate 15.