阅读说明：本技术 一种飞机前机身部件复杂曲面叠层制孔及柔性装配系统 (Laminated hole-making and flexible assembling system for complex curved surface of airplane front body component ) 是由 刘均 徐玉飞 谢颖 马振博 杨京京 康志文 许博 吴琦 王浩 于 2021-06-25 设计创作，主要内容包括：本发明公开了一种飞机前机身部件复杂曲面叠层制孔及柔性装配系统,包括蒙皮预装工位与蒙皮制孔工位之间滑动设置的第一转运装置、蒙皮制孔工位与人工装配工位之间滑动设置的第二转运装置,第一转运装置的顶部依次滑动设置有数控调姿装置,数控调姿装置的顶部设置有预装维形架；第二转运装置的顶部依次滑动设置有人工装配定位装置；蒙皮制孔工位的顶部和底部均滑动设置有制孔机床,蒙皮制孔工位的两侧上分别设置有侧面支撑定位装置；蒙皮预装工位、蒙皮制孔工位、人工装配工位的两侧均移动设置有人工操作平台；本发明具有连续高效进行机身的头部、前段、后段、尾部之间的精确对合,同时连续高效进行机身外侧蒙皮预装、蒙皮制孔、蒙皮拼接等工作。(The invention discloses a complex curved surface laminated hole making and flexible assembling system for an airplane front fuselage component, which comprises a first transfer device and a second transfer device, wherein the first transfer device is arranged between a skin preassembly station and a skin hole making station in a sliding manner, the second transfer device is arranged between a skin hole making station and a manual assembling station in a sliding manner, a numerical control posture adjusting device is sequentially arranged at the top of the first transfer device in a sliding manner, and a preassembly maintenance frame is arranged at the top of the numerical control posture adjusting device; the top of the second transfer device is sequentially provided with a manual assembly positioning device in a sliding manner; the top and the bottom of the skin hole-making station are both provided with a hole-making machine tool in a sliding manner, and two sides of the skin hole-making station are respectively provided with a side surface supporting and positioning device; manual operation platforms are movably arranged on two sides of the skin preassembly station, the skin hole making station and the manual assembly station; the invention has the advantages of continuously and efficiently carrying out accurate involution among the head, the front section, the rear section and the tail of the fuselage, and simultaneously continuously and efficiently carrying out the operations of skin preassembling, skin hole making, skin splicing and the like on the outer side of the fuselage.)

1. A complex curved surface laminated hole making and flexible assembling system for an airplane front fuselage component comprises a skin preassembling station, a skin hole making station and a manual assembling station which are sequentially arranged along the X direction, and is characterized in that a first transfer device (01) is arranged between the skin preassembling station and the skin hole making station in a sliding manner along the X direction, the top of the first transfer device (01) is sequentially provided with a numerical control posture adjusting device (1) corresponding to the head, the front section, the rear section and the tail of the fuselage in a sliding manner along the X direction, and the top of the numerical control posture adjusting device (1) is provided with a preassembly maintenance frame (2); a second transfer device (02) is arranged between the skin hole-making station and the manual assembly station in a sliding mode along the X direction, and a manual assembly positioning device (3) is arranged at the top of the second transfer device (02) in a sliding mode along the X direction and sequentially corresponds to the head, the front section, the rear section and the tail of the fuselage; the top and the bottom of the skin hole-making station are provided with a hole-making machine tool (4) in a sliding manner along the X direction, and two sides of the skin hole-making station parallel to the X direction are respectively provided with a side surface supporting and positioning device (5) corresponding to the head part, the front section, the rear section and the tail part of the machine body; and the two sides of the skin preassembling station, the skin hole making station and the manual assembly station are respectively provided with a manual operation platform (6) in a way of moving perpendicular to the X direction.

2. The complex curved surface laminated hole making and flexible assembling system for the aircraft front fuselage part according to claim 1 is characterized in that the hole making machine tool (4) comprises a sliding installation beam (41) which is arranged at the top or the bottom of a skin hole making station in a sliding mode along the X direction, a transverse moving device (42) which moves perpendicular to the X direction is arranged on the sliding installation beam (41), a vertical lifting device (43) which moves along the vertical direction is arranged on the moving end of the transverse moving device (42), a numerical control drilling machine (44) is arranged on the moving end of the vertical lifting device (43), and a photographic measuring device (45) is arranged on one side of a drill bit of the numerical control drilling machine (44).

3. The complex curved surface laminated hole making and flexible assembling system for the airplane forebody component as claimed in claim 2, wherein an elastic pressing plate (47) is further arranged on one side of the drill bit of the numerical control drilling machine (44), at least three normal laser sensing devices (46) are uniformly arranged on the elastic pressing plate (47) in the circumferential direction of the drill bit of the numerical control drilling machine (44), and a dust suction device and a cutter air cooling device which extend to one side of the drill bit of the numerical control drilling machine (44) are further arranged on the elastic pressing plate (47).

4. The complex curved surface laminated hole making and flexible assembly system for the aircraft front fuselage part according to claim 3, characterized in that the hole making machine (4) further comprises a tool mounting magazine and a trial tool module arranged at one end of the sliding mounting beam (41).

5. The complex curved surface laminated hole making and flexible assembly system for the aircraft nose body part according to any one of claims 1-4, characterized in that the lateral support positioning device (5) comprises a Y-direction moving assembly (51) moving perpendicular to the X direction, a Z-direction moving assembly (52) moving along the vertical direction is arranged on the moving end of the Y-direction moving assembly (51), an X-direction moving assembly (53) moving along the X direction is arranged on the moving end of the Z-direction moving assembly (52), a lateral ball head locking cylinder (54) is arranged on the moving end of the X-direction moving assembly (53), and an auxiliary positioning pin shaft assembly (55) is arranged on one side of the lateral ball head locking cylinder (54).

6. The complex-curved-surface laminated hole making and flexible assembly system for aircraft forward body components according to claim 5, characterized in that a pressure sensor is arranged on one side of the lateral ball head locking cylinder (54).

7. The complex curved surface laminated hole making and flexible assembly system for the airplane forebody component according to any one of claims 1-4, wherein the numerical control posture adjusting device (1) comprises an X-axis moving assembly (11) moving along an X direction, a Y-axis moving assembly (12) moving perpendicular to the X direction is arranged at the moving end of the X-axis moving assembly (11), a Z-axis moving assembly (13) moving along a vertical direction is arranged at the moving end of the Y-axis moving assembly (12), a numerical control ball head locking cylinder (14) is arranged at the moving end of the Z-axis moving assembly (13), and a ball head of the numerical control ball head locking cylinder (14) is in ball joint with the bottom of the pre-assembly dimensional frame (2).

8. The complex curved surface laminated hole-making and flexible assembly system for the airplane front fuselage part according to claim 7 is characterized in that an auxiliary posture adjusting device is further arranged at the top of the first transfer device (01) corresponding to the tail part of the airplane body, the top of the auxiliary posture adjusting device is in ball joint with the bottom of the pre-assembly maintenance frame (2), and the structure of the auxiliary posture adjusting device is completely the same as that of the numerical control posture adjusting device (1).

9. The complex curved surface laminated hole making and flexible assembling system for the airplane front fuselage part as claimed in claim 8, characterized in that a pressure sensor is arranged on one side of the numerical control ball head locking cylinder (14).

10. The aircraft nose body component complex curved surface laminated hole making and flexible assembling system according to any one of claims 1 to 4, wherein the manual assembling and positioning device (3) comprises a manual X-direction moving assembly (31) which is arranged at the top of the second transfer device (02) in a sliding manner and sequentially corresponds to the head, the front section, the rear section and the tail of the aircraft body along the X direction, a manual Y-direction moving assembly (32) which moves perpendicular to the X direction is arranged at the moving end of the manual X-direction moving assembly (31), a manual Z-direction moving assembly (33) which moves along the vertical direction is arranged at the moving end of the manual Y-direction moving assembly (32), and a locking clamp (34) is arranged at the moving end of the manual Z-direction moving assembly (33).

Technical Field

The invention belongs to the technical field of airplane body assembly, and particularly relates to a complicated curved surface laminated hole making and flexible assembly system for an airplane front body component.

Background

The assembly of the airplane is the most important and key link in the manufacturing process of the airplane, the final quality of the airplane is influenced to a great extent by the assembly quality, especially the requirements of modern high-performance and high-maneuverability fighters on the assembly quality are more strict, and the requirements of the traditional manual assembly are difficult to meet to a great extent.

With the rapid development and industrial application of digital measurement technology, intelligent manufacturing technology, integrated control technology and computer control technology, and informatization, flexibility, modularization and automation of the assembly process. Promoting the development of airplane digital assembly technology.

In foreign countries, especially developed countries such as europe and the united states, new-generation fighter plane manufacturers adopt digital and automatic technologies to reduce the amount of manual labor and improve the product quality and the production efficiency.

In China, in recent years, large host factories are built with digital assembly production lines. But basically aims at large airplanes and parts with good field opening performance and good rigidity. However, the front fuselage of a certain airplane has poor rigidity and is easy to deform in a framework state before the skin is installed. And the skin has the characteristics of large curvature change, high automatic hole making difficulty and the like, so that the assembly of the front section and the rear section of the front fuselage is always produced by adopting a traditional processing mode.

However, the conventional involution assembly adopts a fixed assembly fixture, which cannot adapt to assembly errors generated before each airplane enters the involution stage, is difficult to effectively control the product attitude, and can cause stress assembly. The normal direction precision of artifical system hole is difficult to guarantee, and then influences the deep precision of nest, further influences the installation quality of rivet, and then influences the stealthy performance of aircraft.

Disclosure of Invention

The invention aims to provide a complex curved surface laminated hole making and flexible assembling system for a front fuselage component of an airplane, which realizes the sectional posture adjustment and involution of the head, the front section, the rear section and the tail of the fuselage, simultaneously continuously and efficiently carries out the procedures of skin installation, skin hole making and skin manual splicing, and greatly improves the efficiency and the precision of the sectional butt joint of the fuselage and the hole making of the skin installation.

The invention is realized by the following technical scheme:

a complex curved surface laminated hole making and flexible assembling system for an airplane front fuselage component comprises a skin preassembling station, a skin hole making station and a manual assembling station which are sequentially arranged along the X direction, wherein a first transfer device is arranged between the skin preassembling station and the skin hole making station in a sliding manner along the X direction, a numerical control posture adjusting device is arranged at the top of the first transfer device in a sliding manner along the X direction and sequentially corresponds to the head, the front section, the rear section and the tail of the fuselage, and a preassembling maintenance frame is arranged at the top of the numerical control posture adjusting device; a second transfer device is arranged between the skin hole-making station and the manual assembly station in a sliding mode along the X direction, and manual assembly positioning devices are arranged on the top of the second transfer device in a sliding mode along the X direction and sequentially correspond to the head, the front section, the rear section and the tail of the machine body in a sliding mode; the top and the bottom of the skin hole-making station are provided with hole-making machine tools in a sliding manner along the X direction, and two sides of the skin hole-making station parallel to the X direction are respectively provided with a side surface supporting and positioning device corresponding to the head part, the front section, the rear section and the tail part of the machine body; and the two sides of the skin preassembling station, the skin hole making station and the manual assembly station are respectively provided with a manual operation platform in a way of moving perpendicular to the X direction.

The head, the front section, the rear section and the tail of the airplane body are respectively positioned and installed on a preassembly dimensional frame on a numerical control posture adjusting device, the postures of the head, the front section, the rear section and the tail of the airplane body are respectively and independently adjusted through the numerical control posture adjusting device, the high-precision involution assembly of the head, the front section, the rear section and the tail of the airplane is realized, and meanwhile, a skin is preassembled on the outer side of the involution-completed airplane body at a skin preassembling station.

After the skin is pre-installed, the fuselage is transported to a skin hole-making station from a skin pre-installing station through a first transporting device, the posture of the fuselage is strictly kept through a pre-installing dimensional frame and a numerical control posture adjusting device in the transporting process, and the violent change of the posture of the fuselage caused by shaking in the transporting process is avoided. After the fuselage transports to covering system hole station, support positioner through the side of covering system hole station both sides and the ball-and-socket ball joint on the pre-installation dimensional frame, and then realize the pre-positioning of fuselage in covering system hole station, then transfer the appearance to the fuselage through side support positioner's removal, after transferring the appearance and accomplishing, carry out system hole position location and processing to fuselage outside covering through the system hole machine tool in the covering system hole station, the location of cooperation side support positioner to the fuselage, and then effectively guarantee the high efficiency and the accuracy nature of system hole work.

After the skin hole forming is completed, the second transfer device moves to the skin hole forming station from the manual assembly station, the pre-assembly dimensional frame is received through the manual assembly positioning device at the top of the second transfer device, and the fuselage is transferred to the manual assembly station from the skin hole forming station through the second transfer device. The machine body is positioned and fixed through the preassembly dimensional frame and the manual assembly positioning device in the transfer process, so that severe vibration of the machine body is avoided. After the machine body reaches the manual assembly station, the machine body is adjusted through the three-axis movement of the manual assembly positioning device. After the fuselage posture adjustment is completed, workers can splice the skin and set rivets at the manual assembly station.

In order to better realize the invention, the hole making machine tool further comprises a sliding installation beam which is arranged at the top or the bottom of the skin hole making station in a sliding mode along the X direction, a transverse moving device which moves perpendicular to the X direction is arranged on the sliding installation beam, a vertical lifting device which moves along the vertical direction is arranged at the moving end of the transverse moving device, a numerical control drilling machine is arranged at the moving end of the vertical lifting device, and a photographic measuring device is arranged on one side of a drill bit of the numerical control drilling machine.

In order to better realize the invention, an elastic pressing plate is further arranged on one side of the drill bit of the numerical control drilling machine, at least three normal direction laser sensing devices are uniformly arranged on the elastic pressing plate in the circumferential direction around the drill bit of the numerical control drilling machine, and a dust suction device and a cutter air cooling device which extend to one side of the drill bit of the numerical control drilling machine are further arranged on the elastic pressing plate.

In order to better implement the invention, the hole making machine further comprises a tool mounting library and a trial tool module which are arranged at one end of the sliding mounting beam.

In order to better realize the invention, the side supporting and positioning device further comprises a Y-direction moving assembly moving perpendicular to the X-direction, a Z-direction moving assembly moving along the vertical direction is arranged on a moving end of the Y-direction moving assembly, an X-direction moving assembly moving along the X-direction is arranged on a moving end of the Z-direction moving assembly, a side ball head locking cylinder is arranged on a moving end of the X-direction moving assembly, and an auxiliary positioning pin shaft assembly is arranged on one side of the side ball head locking cylinder.

In order to better implement the invention, a pressure sensor is further arranged on one side of the lateral ball head locking cylinder.

In order to better realize the invention, the numerical control posture adjusting device further comprises an X-axis moving assembly moving along the X direction, a Y-axis moving assembly moving perpendicular to the X direction is arranged on the moving end of the X-axis moving assembly, a Z-axis moving assembly moving along the vertical direction is arranged on the moving end of the Y-axis moving assembly, a numerical control ball head locking cylinder is arranged on the moving end of the Z-axis moving assembly, and a ball head of the numerical control ball head locking cylinder is in ball joint with the bottom of the pre-assembly dimensional frame.

In order to better realize the invention, an auxiliary posture adjusting device is further arranged at the top of the first transfer device corresponding to the tail part of the machine body, the top of the auxiliary posture adjusting device is in ball joint with the bottom of the pre-installed maintenance frame, and the structure of the auxiliary posture adjusting device is completely the same as that of the numerical control posture adjusting device.

In order to better realize the invention, a pressure sensor is further arranged on one side of the numerical control ball head locking cylinder.

In order to better realize the invention, the manual assembly positioning device further comprises a manual X-direction moving assembly which is arranged at the top of the second transfer device in a sliding manner along the X direction and sequentially corresponds to the head, the front section, the rear section and the tail of the machine body, an manual Y-direction moving assembly which moves perpendicular to the X direction is arranged on the moving end of the manual X-direction moving assembly, an manual Z-direction moving assembly which moves along the vertical direction is arranged on the moving end of the manual Y-direction moving assembly, and a locking clamp is arranged on the moving end of the manual Z-direction moving assembly.

Compared with the prior art, the invention has the following advantages and beneficial effects:

(1) according to the invention, the skin preassembling station, the skin hole making station and the manual assembly station are sequentially arranged, and the processes of butt-joint splicing, skin installation, skin hole making and manual skin treatment of the airplane body are divided and processed at different stations through different real-time working procedures at different stations, so that the flexibility of the whole assembly system is improved, and the flexibility and the whole working efficiency of airplane body assembly are further improved;

(2) according to the invention, the first transfer device is arranged between the skin preassembling station and the skin hole-making station in a sliding manner, the numerical control attitude adjusting device is arranged on the top of the first transfer device in a sliding manner respectively corresponding to the head, the front section, the rear section and the tail of the airplane body, the preassembly dimensional frame is arranged on the top of the numerical control attitude adjusting device, the head, the front section, the rear section and the tail of the airplane are sequentially placed on different preassembly dimensional frames for positioning and fixing, and the postures of the head, the front section, the rear section and the tail of the airplane are independently adjusted by the numerical control attitude adjusting device, so that the high-precision and high-efficiency involutory splicing among the head, the front section, the rear section and the tail of the airplane is realized, then the skin can be preassembled on the outer side of the involutory airplane body, and the mounting precision of the skin is effectively ensured;

(3) according to the invention, the side supporting and positioning devices are arranged on two sides of the skin hole-making station, ball joints on two sides of the pre-fabricated dimensional frame are in ball joint through the side supporting and positioning devices after the fuselage enters the skin hole-making station, so that the pre-positioning of the fuselage is realized, the posture of the fuselage is effectively prevented from being greatly changed, then the deviation rectification and fine adjustment of the posture of the fuselage are realized through the three-axis movement of the side supporting and positioning devices, then hole-making hole sites on the surface of the skin can be positioned and processed through hole-making machine tools arranged on the top and the bottom of the skin hole-making station, and the precision of skin hole making is effectively ensured;

(4) according to the invention, the second transfer device is arranged between the skin hole-making station and the manual assembly station, the manual assembly positioning devices are respectively arranged at the tops of the second transfer device corresponding to the head, the front section, the rear section and the tail of the machine body, the machine body is stably transferred from the skin hole-making station to the manual assembly station through the second transfer device, and meanwhile, the machine body is positioned through the ball joint between the manual assembly positioning device and the ball head on the pre-assembly maintenance frame, so that the posture of the machine body is effectively prevented from being changed greatly; after the fuselage enters the manual assembly station, the deviation rectification fine adjustment of the fuselage posture is realized through the three-axis movement of the manual assembly positioning device, then the workers can splice the skin, rivet and the like, and the skin processing efficiency is greatly improved.

Drawings

FIG. 1 is a top view of the present invention;

FIG. 2 is a schematic view of the installation of the numerical control posture adjusting device on the top of the first transfer device;

FIG. 3 is a schematic structural diagram of a numerical control posture adjusting device;

FIG. 4 is a schematic view of the installation of the hole making machine;

FIG. 5 is a schematic view of the installation of the side support positioning device;

FIG. 6 is an installation schematic diagram of the numerically controlled drilling rig;

FIG. 7 is a schematic view of the structure of the side support positioning device;

FIG. 8 is a schematic view of the mounting of the tooling positioning apparatus on top of the second transfer apparatus;

fig. 9 is a schematic structural view of the human tool assembling and positioning device.

Wherein: 1-a numerical control posture adjusting device; 2, pre-assembling a dimensional frame; 3, manually assembling a positioning device; 4-a hole making machine tool; 5-laterally supporting the positioning device; 6, a manual operation platform; 01-a first transfer device; 02-a second transfer device; 11-X axis moving assembly; a 12-Y axis moving assembly; 13-Z axis moving assembly; 14-a numerical control ball head locking cylinder; 31-manual X-direction movement assembly; 32-manual Y-direction movement assembly; 33-manual Z-direction moving assembly; 34-a locking clamp; 41-sliding mounting beam; 42-a lateral movement device; 43-vertical lifting device; 44-a numerically controlled drilling machine; 45-a photogrammetric device; 46-normal laser sensing means; 47-a resilient platen; a 51-Y direction moving component; a 52-Z direction moving component; a 53-X direction moving assembly; 54-side ball head locking cylinder; 55-auxiliary locating pin shaft assembly.

Detailed Description

Example 1:

the complex curved surface laminated hole making and flexible assembling system for the front fuselage part of the airplane comprises a skin preassembling station, a skin hole making station and a manual assembling station which are sequentially arranged along the X direction, wherein a first transfer device 01 is arranged between the skin preassembling station and the skin hole making station in a sliding manner along the X direction, the top of the first transfer device 01 is sequentially provided with a numerical control posture adjusting device 1 corresponding to the head, the front section, the rear section and the tail of the fuselage in a sliding manner along the X direction, and the top of the numerical control posture adjusting device 1 is provided with a preassembly maintenance frame 2; a second transfer device 02 is arranged between the skin hole-making station and the manual assembly station in a sliding mode along the X direction, and a manual assembly positioning device 3 is arranged at the top of the second transfer device 02 in a sliding mode along the X direction and sequentially corresponds to the head, the front section, the rear section and the tail of the fuselage; the top and the bottom of the skin hole-making station are both provided with a hole-making machine tool 4 in a sliding manner along the X direction, and two sides of the skin hole-making station parallel to the X direction are respectively provided with a side surface supporting and positioning device 5 corresponding to the head part, the front section, the rear section and the tail part of the machine body; and the two sides of the skin preassembling station, the skin hole making station and the manual assembly station are respectively provided with a manual operation platform 6 in a way of moving perpendicular to the X direction.

The specific working process of the invention is as follows:

(1) sequentially installing the head, the front section, the rear section and the tail of the machine body corresponding to the numerical control posture adjusting device 1 on the top of the first transfer device 01, then hoisting the pre-installed shape maintaining frame 2 to the top of the numerical control posture adjusting device 1, and performing ball joint in advance on a ball socket at the bottom of the pre-installed shape maintaining frame 2 and a ball head in the numerical control posture adjusting device 1;

(2) respectively hoisting the rear section of the rear fuselage of the front section of the fuselage to the preassembly dimensional frame 2 corresponding to the front section and the preassembly dimensional frame 2 corresponding to the rear section, and connecting positioning holes on the front section and the rear section of the fuselage with positioning heads or positioning pins in the preassembly dimensional frame 2 to realize positioning and installation of the front section and the rear section of the fuselage;

(3) measuring the fabrication holes on the front section and the rear section of the machine body by using a laser tracking measuring instrument, transmitting the measured data to a comprehensive centralized control system for attitude adjustment calculation, transmitting corresponding attitude adjustment instructions to a numerical control attitude adjustment device 1 respectively corresponding to the front section and the rear section of the machine body by the comprehensive centralized control system according to the calculation result, and adjusting the position of a ball head bearing ball socket by the numerical control attitude adjustment device 1 according to the received instructions to drive a pre-installed dimensional frame 2 and front and rear section products of the machine body to perform attitude adjustment and involution;

(4) respectively hoisting the head and the tail of the machine body to the preassembly dimensional frame 2 corresponding to the head and the preassembly dimensional frame 2 corresponding to the tail, and connecting positioning holes in the head and the tail of the machine body with positioning heads or positioning pins in the preassembly dimensional frame 2 to realize positioning and installation of the head and the tail of the machine body;

(5) measuring the fabrication holes on the head and the tail of the machine body by using a laser tracking measuring instrument, transmitting the measured data to a comprehensive centralized control system for adjusting the postures, transmitting corresponding posture adjusting instructions to a numerical control posture adjusting device 1 respectively corresponding to the head and the tail of the machine body by the comprehensive centralized control system according to the calculation result, adjusting the position of a ball head bearing ball socket by the numerical control posture adjusting device 1 according to the received instructions, driving a pre-installed dimensional frame 2 on the ball head bearing ball socket and the head and the front section of the machine body to perform posture adjustment and involution, and driving the rear section and the tail of the machine body to perform posture adjustment and involution;

(6) the manual operation platform 6 moves close to the fuselage to surround the fuselage, a worker stands on the manual operation platform 6 to perform structural assembly and outer skin installation on the fuselage, and then a reference hole and a pre-connection hole are manually prepared on the outer skin;

(7) after the skin is installed, the manual operation platform 6 moves away from the machine body to avoid a channel for the first transfer device 01 to move, the first transfer device 01 drives the machine body to move from the skin preassembly station to the skin hole forming station, and in the process that the first transfer device 01 moves from the skin preassembly station to the skin hole forming station, the hole forming machine tools 4 at the top and the bottom of the skin hole forming station move to one end away from the skin preassembly station along the X direction to avoid the first transfer device 01;

(8) the manual operation platform 6 is close to the machine body to move to surround the machine body, a worker performs ball joint on ball sockets on two sides of the skin drilling station corresponding to the side supporting and positioning devices 5 on two sides of the pre-installing maintenance frame 2, meanwhile, the numerical control posture adjusting device 1 cancels the ball joint with the bottom of the pre-installing maintenance frame 2 to realize fixation of the machine body in the skin drilling station, then the manual operation platform 6 moves away from the machine body to avoid the first transfer device 01, and the first transfer device 01 returns to the skin pre-installing station;

(9) measuring attitude parameters of the fuselage in a skin hole-making station by a laser tracking measuring instrument, sending the attitude parameters to a comprehensive centralized control system, and controlling a side supporting and positioning device 5 by the comprehensive centralized control system to adjust the attitude of the fuselage;

(10) the hole making position of the skin on the machine body is calibrated and revised through the hole making machine tool 4, and then the hole making machining is carried out on the skin on the machine body through the hole making machine tool 4;

(11) the hole making machine tool 4 moves to one end far away from the manual assembly station along the X direction to avoid the second transfer device 02, the second transfer device 02 in the manual assembly station moves to the skin hole making station, the manual operation platform 6 is close to the machine body to movably surround the machine body, a worker operates a ball head in the manual assembly positioning device 3 at the top of the second transfer device 02 to be in ball joint with a ball socket at the bottom of the pre-assembly dimensional frame 2, and simultaneously operates the side surface supporting and positioning device 5 to cancel the ball joint of the ball sockets at two sides of the pre-assembly dimensional frame 2;

(12) the manual operation platform 6 is far away from the fuselage and moves in order to dodge the second transfer device 02, and the second transfer device 02 drives the pre-installation dimensional frame 2 and the fuselage and moves to the manual assembly station from the covering hole-making station, and the manual operation platform 6 is close to the fuselage and moves to surround the fuselage, and the staff manually carries out covering hole-filling operation and covering riveting operation.

Example 2:

the embodiment is further optimized on the basis of embodiment 1, as shown in fig. 4-6, the hole making machine 4 includes a sliding installation beam 41 arranged at the top or bottom of the skin hole making station in a sliding manner along the X direction, a transverse moving device 42 moving perpendicular to the X direction is arranged on the sliding installation beam 41, a vertical lifting device 43 moving along the vertical direction is arranged on the moving end of the transverse moving device 42, a numerical control drilling machine 44 is arranged on the moving end of the vertical lifting device 43, and a photographic measuring device 45 is arranged on one side of a drill bit of the numerical control drilling machine 44.

Double-rail slide rails are arranged among the skin preassembly station, the skin hole forming station and the manual assembly station, two slide rails of the double-rail slide rails are parallel to the X direction and are respectively arranged on two sides of the skin preassembly station, the skin hole forming station and the manual assembly station, and two slide rails are arranged on two sides of the top of the skin hole forming station and are parallel to the X direction. The body of the sliding installation beam 41 is perpendicular to the X direction, and two ends of the sliding installation beam 41 are respectively in sliding connection with the sliding rails on two sides of the top of the skin hole forming station or two sides of the bottom of the skin hole forming station through sliding blocks. The top or the bottom of the skin hole-making station is also provided with a rack parallel to the slide rail, one end of the sliding installation beam 41 is provided with a driving motor, a gear meshed with the rack is sleeved on an output shaft of the driving motor, and the sliding installation beam 41 is driven to move in the X direction along the slide rail through the matching of gear rotation and the rack. A transverse sliding rail is arranged on the sliding mounting beam 41 and is perpendicular to the X direction, the transverse moving device 42 is connected with the transverse sliding rail in a sliding mode through a sliding block, a rack is arranged on one side of the transverse sliding rail in parallel, a transverse driving motor is arranged on the transverse moving device 42, a gear meshed with the transverse rack is sleeved on an output shaft of the transverse driving motor, and the transverse moving device 42 is driven to move along the transverse sliding rail and perpendicular to the X direction through the cooperation of gear rotation and the transverse rack. A vertical lifting device 43 is arranged on the moving end of the transverse moving device 42, the vertical lifting device 43 is a vertical screw rod lifter, a numerical control drilling machine 44 is arranged on the lifting end of the vertical screw rod lifter towards the machine body, meanwhile, a photographic measuring device 45 is arranged on one side of the processing end of the numerical control drilling machine 44, and the photographic measuring device 45 is a high-definition industrial miniature camera.

When the first transfer device 01 enters the skin hole making station, the vertical lifting device 43 in the hole making machine 4 at the top of the skin hole making station is lifted to make room of a sufficient height for the first transfer device 01 to enter, and the slidably mounted beam 41 in the hole making machine 4 at the top of the skin hole making station is moved away from the skin pre-assembly station to make room for the first transfer device 01. After the preassembly dimensional frame 2 is fixed by the side supporting and positioning device 5, the numerical control drilling machine 44 can be driven to perform hole making operation on different positions on the skin outside the machine body through the cooperation of the sliding installation beam 41 moving along the direction parallel to the X direction, the transverse moving device 42 moving perpendicular to the X direction and the vertical lifting device 43 moving along the vertical direction. Before the numerical control drilling machine 44 performs hole making, the hole making position needs to be shot through the photographic measuring device 45, actual hole making position parameters are generated, the actual hole making position parameters are transmitted to the comprehensive centralized control system, the comprehensive centralized control system controls the side supporting and positioning device 5 to adjust the posture of the machine body according to the actual hole making position parameters, and after the posture is adjusted, the numerical control drilling machine 44 performs hole making processing on the skin, so that the accuracy of the final hole forming position is ensured.

Further, an elastic pressing plate 47 is further arranged on one side of the drill bit of the numerical control drilling machine 44, at least three normal laser sensing devices 46 are uniformly arranged on the elastic pressing plate 47 in the circumferential direction around the drill bit of the numerical control drilling machine 44, and a dust suction device and a cutter air cooling device which extend to one side of the drill bit of the numerical control drilling machine 44 are further arranged on the elastic pressing plate 47.

The skin on the surface of the fuselage of the elastic pressing plate 47 is compressed, so that the skin is tightly attached to the fuselage, the vibration amplitude of the skin in the hole making process is effectively reduced, and the precision of the subsequent hole making position is further ensured. Meanwhile, at least three normal laser sensing devices 46 are uniformly arranged on the elastic pressing plate 47 in the circumferential direction of the drill bit of the numerical control drilling machine 44, preferably, 4 normal laser sensing devices 46 are uniformly arranged, laser is emitted towards the skin through the normal laser sensing devices 46, a normal plane of the curved surface of the skin is fitted through at least three laser points, and the position precision of hole making is further ensured through the normal plane. In the hole making process, the dust suction device is used for sucking and removing the fragments generated in the hole making process, the fragments are prevented from falling on the skin to damage the skin, and meanwhile, the cutter air cooling device is used for conveying cold air to the drill bit of the numerical control drilling machine 44 to reduce the temperature of the drill bit of the numerical control drilling machine 44, so that the drill bit of the numerical control drilling machine 44 can continuously work for a long time.

Further, the hole making machine tool 4 further includes a tool mounting base and a tool testing module which are arranged at one end of the sliding mounting beam 41, when holes with different diameters and different types are machined, a drill bit of the numerical control drilling machine 44 moves to the tool mounting base to replace a corresponding tool, whether tool changing is carried out or not is judged in a tool changing process, and if the tool on a main shaft of the current numerical control drilling machine 44 is the tool required for executing a hole making program and the service life of the tool does not reach the upper limit, tool changing and tool testing are not carried out. Otherwise, changing the tool and testing the tool, and checking the condition of the tool after the tool testing is finished, wherein the tool meeting the precision requirement can be used for drilling.

Other parts of this embodiment are the same as embodiment 1, and thus are not described again.

Example 3:

the present embodiment is further optimized based on the foregoing embodiment 1 or 2, as shown in fig. 7, the side surface supporting and positioning device 5 includes a Y-direction moving assembly 51 moving perpendicular to the X direction, a Z-direction moving assembly 52 moving along the vertical direction is disposed on a moving end of the Y-direction moving assembly 51, an X-direction moving assembly 53 moving along the X direction is disposed on a moving end of the Z-direction moving assembly 52, a side surface ball head locking cylinder 54 is disposed on a moving end of the X-direction moving assembly 53, and an auxiliary positioning pin shaft assembly 55 is disposed on one side of the side surface ball head locking cylinder 54.

Y is connected to the link of removing subassembly 51 and the both sides that the covering system hole station is on a parallel with the X direction, and Y extends to the Y direction fuselage that removes subassembly 51 along the perpendicular to X direction, and Y is provided with the Z that moves along vertical direction on removing the end to removing subassembly 51 and removes subassembly 52 to removing subassembly 51 along the Y direction, and then realizes driving Z and remove subassembly 52 and be close to or keep away from the fuselage to removing the subassembly through Y. An X-direction moving assembly 53 moving along the X direction is arranged on the moving end of the Z-direction moving assembly 52, the X-direction moving assembly 53 is driven by the Z-direction moving assembly 52 to lift along the vertical Z direction, and meanwhile, the side ball head locking air cylinder 54 is driven by the X-direction moving assembly 53 to move along the X direction.

Through the matching movement among the Y-direction moving assembly 51, the Z-direction moving assembly 52 and the X-direction moving assembly 53, the positions of the side ball head locking cylinder 54 and the auxiliary positioning pin shaft assembly 55 are adjusted, so that the locking ball head of the side ball head locking cylinder 54 is aligned with the ball socket on the pre-assembly dimensional frame 2, and the top end surface of the positioning support column in the auxiliary positioning pin shaft assembly 55 is abutted to the bottom end surface of the pre-assembly dimensional frame 2. Then can carry out the ball joint through the locking bulb of side bulb locking cylinder 54 and the ball socket on the pre-installation dimensional frame 2 in order to fix a position pre-installation dimensional frame 2, support the top terminal surface of pre-installation dimensional frame 2 through the positioning support post in the auxiliary positioning pin axle subassembly 55 simultaneously, effectively prevent that pre-installation dimensional frame 2 from taking place the upset.

After the preassembly dimensional frame 2 is prepositioned through the side ball head locking cylinder 54, the preassembly dimensional frame can be matched with the Y-direction moving assembly 51, the Z-direction moving assembly 52 and the X-direction moving assembly 53 to move again, and then the posture of the machine body at the skin hole forming station is adjusted.

Further, the Y-direction moving unit 51, the Z-direction moving unit 52, and the X-direction moving unit 53 are all screw linear driving devices, and are different only in mounting position, linear driving direction, and driving stroke.

Further, a pressure sensor is arranged on one side of the side ball head locking cylinder 54, a pressure bearing end of the pressure sensor is abutted against the side face of each pre-installed dimensional frame 2, and the pressure applied to a positioning point on each pre-installed dimensional frame 2 in the posture adjusting process is detected in real time through the pressure sensor. The pressure sensor transmits the detected pressure to the comprehensive centralized control system, and the comprehensive centralized control system controls the moving strokes of the Y-direction moving assembly 51, the Z-direction moving assembly 52 and the X-direction moving assembly 53 in real time according to the fed-back pressure, so that the pressure on each positioning point tends to be average, and the uneven stress on the pre-assembled dimensional frame 2 is effectively avoided.

The rest of this embodiment is the same as embodiment 1 or 2, and therefore, the description thereof is omitted.

Example 4:

the present embodiment is further optimized based on any one of the embodiments 1 to 3, and as shown in fig. 3, the numerical control posture adjustment apparatus 1 includes an X-axis moving assembly 11 moving along the X direction, a Y-axis moving assembly 12 moving perpendicular to the X direction is disposed on a moving end of the X-axis moving assembly 11, a Z-axis moving assembly 13 moving along the vertical direction is disposed on a moving end of the Y-axis moving assembly 12, a numerical control ball head locking cylinder 14 is disposed on a moving end of the Z-axis moving assembly 13, and a ball head of the numerical control ball head locking cylinder 14 is ball-connected to a bottom portion of the pre-assembled dimensional frame 2.

The top of the first transfer device 01 is symmetrically provided with X-direction slide rails on two sides parallel to the X direction, the bottom of the X-axis moving assembly 11 is connected with the X-direction slide rails in a sliding mode through a slide block, a Y-axis moving assembly 12 perpendicular to the X direction and moving is arranged on the moving end of the X-axis moving assembly 11, and the Y-axis moving assembly 12 is driven to move along the X direction through the X-axis moving assembly 11.

The moving end of the Y-axis moving component 12 is provided with a Z-axis moving component 13 which goes up and down along the vertical direction, the Y-axis moving component 12 drives the Z-axis moving component 13 to move along the Y direction, and the Z-axis moving component 13 drives the numerical control ball head locking cylinder 14 to go up and down along the vertical direction.

The X-axis moving assembly 11, the Y-axis moving assembly 12 and the Z-axis moving assembly13 are matched to move, so that the distance between the numerical control ball head locking cylinder 14 and the pre-assembly dimensional frame 2 is adjusted, meanwhile, the locking ball head of the numerical control ball head locking cylinder 14 is aligned with the ball socket on the pre-assembly dimensional frame 2, and pre-positioning of the pre-assembly dimensional frame 2 is achieved through the ball joint between the locking ball head of the numerical control ball head locking cylinder 14 and the ball socket on the pre-assembly dimensional frame 2.

Furthermore, the top of the first transfer device 01 is also provided with an auxiliary posture adjusting device corresponding to the tail of the machine body, the top of the auxiliary posture adjusting device is in ball joint with the bottom of the pre-installed shape maintaining frame 2 to perform auxiliary positioning on the pre-installed shape maintaining frame 2, and the structure of the auxiliary posture adjusting device is completely the same as that of the numerical control posture adjusting device 1.

Furthermore, a pressure sensor is arranged on one side of the numerical control ball head locking cylinder 14, a pressure bearing end of the pressure sensor is abutted to a positioning point of the pre-installed dimensional frame 2, the pressure sensor detects the pressure applied by the pre-installed dimensional frame 2 during posture adjustment and transmits the pressure to the comprehensive centralized control system, and the comprehensive centralized control system controls the moving stroke of the X-axis moving assembly 11, the Y-axis moving assembly 12 and the Z-axis moving13 in real time according to the fed-back pressure, so that the pressure applied to each positioning point tends to be average, and uneven stress on the pre-installed dimensional frame 2 is effectively avoided.

Other parts of this embodiment are the same as any of embodiments 1 to 3, and thus are not described again.

Example 5:

the present embodiment is further optimized based on any one of the above embodiments 1 to 4, as shown in fig. 9, the manual assembly positioning device 3 includes a manual X-direction moving assembly 31 slidably disposed on the top of the second transfer device 02 along the X direction, a manual Y-direction moving assembly 32 moving perpendicular to the X direction is disposed on a moving end of the manual X-direction moving assembly 31, a manual Z-direction moving assembly 33 moving along the vertical direction is disposed on a moving end of the manual Y-direction moving assembly 32, and a locking clamp 34 is disposed on a moving end of the manual Z-direction moving assembly 33.

The top of second transfer device 02 is provided with X to the slide rail along head, anterior segment, back end, the afterbody that corresponds the fuselage respectively in the both sides that are on a parallel with the X direction, and artifical X is passed through slider and X to slide rail sliding connection to the bottom of removal subassembly 31, drives artifical X through artifical promotion or external drive device and removes along the X direction to removal subassembly 31.

An artificial Y-direction moving assembly 32 which moves perpendicular to the X direction is arranged on the moving end of the artificial X-direction moving assembly 31, and the artificial Y-direction moving assembly 32 is driven to move along the X direction by the artificial X-direction moving assembly 31. The manual Y-direction moving assembly 32 drives the manual Z-direction moving assembly 33 to move perpendicular to the X direction, and the manual Z-direction moving assembly 33 drives the locking clamp 34 to lift along the vertical direction.

Through the cooperation removal between artifical X to removal subassembly 31, artifical Y to removal subassembly 32, artifical Z to removal subassembly 33, and then make locking clamp 34 and the location bulb on pre-installation dimensional frame 2 align, then carry out universal centre gripping through locking clamp 34 to the location bulb on pre-installation dimensional frame 2, and then realize pre-positioning to pre-installation dimensional frame 2.

Then, the positions of the preassembly dimensional frame 2 and the machine body at the manual assembly station can be adjusted by matching and moving the manual X-direction moving assembly 31, the manual Y-direction moving assembly 32 and the manual Z-direction moving assembly 33 again.

Other parts of this embodiment are the same as any of embodiments 1 to 4, and thus are not described again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.