CN103318422B - A process method for clamping aircraft Z-shaped trusses - Google Patents

Abstract

The invention discloses a kind of process for the long purlin clamping of aircraft Z-type, control clamper by digitalisation TT&C system and accurately locate and clamp long purlin, ensure the assembly quality of aircraft target ship.1. the assembling of clamper is completed according to design digital-to-analogue; 2. control clamper in the position of Z-direction, and by grating scale positioning clamp holder; 3. the clamping limb controlling clamper completes expansion action, and electric cylinder piston rod drives clamping push rod to move under electric cylinder drives, and clamping push rod drives clamping limb to rotate the expansion action of clamping limb around clamping push shaft; 4. complete the clamping of long purlin, be placed on long for Z-type purlin and grip on seat, electric cylinder piston rod inwardly shrinks, and drives clamping push rod to move backward and drives clamping limb to close the clamping of long purlin; 5. monitored by force snesor and the contact force of the long purlin of controlled reset and covering; Utilize regulating spring adjustable clamp gripping arm to realize the long purlin of aircraft Z-type of the multiple different-thickness of clamping, adapt to the flexible assembly of different aircraft target ships.

Description

A process method for clamping aircraft Z-shaped trusses

technical field

The invention belongs to the field of aircraft manufacturing and process equipment, and in particular relates to a process method for clamping Z-shaped long trusses of aircraft.

Background technique

At present, in the process of aircraft panel assembly, rigid tooling is mainly used to position the girders and skins, and then riveted to form the panel, while the clamping of the girders mostly uses rigid tooling, which not only has low clamping efficiency, but also Stability cannot be effectively guaranteed, and different rigid toolings are used for stringers with different thicknesses, which not only increases the production cost and occupies the site area, but also increases the workload.

Invention patent 2012101166373.4 discloses a positioning method and a positioning mechanism for aircraft stringers. The stringer positioning mechanism fixes the relative positional relationship between two positioned stringers and stringers to be positioned, and fixes the two positioned stringers. On the corresponding positioning point of the stringer positioning mechanism, the stringer to be positioned is fixed on the corresponding positioning point of the stringer positioning mechanism to realize the positioning of the stringer to be positioned. This girder positioning mechanism can meet the positioning requirements of the girder, but cannot guarantee the size of the contact force between the girder and the skin, so it is difficult to ensure the assembly quality of the wall panels.

Contents of the invention

In order to overcome the problem that the existing rigid aircraft long stringer assembly device cannot monitor the contact force between the skin and the long stringer during assembly and the lack of flexibility, the present invention proposes a process method for aircraft Z-shaped long stringer clamping, through digital measurement and control The system controls the precise positioning and clamping of the stringer by the gripper, and uses the force sensor to feedback and control the contact force between the stringer and the skin to ensure the assembly quality of the aircraft panel.

The technical solution adopted by the present invention to solve its technical problems is: design the digital model, complete the assembly of the gripper; control the operation of the gripper and position the gripper; The contact force of the skin; complete the bonding of the stringer and the skin.

The processing method of the positioning and clamping of the aircraft Z-shaped long truss of the present invention is characterized in that it comprises the following steps:

Step 1. Complete the assembly of the gripper according to the design digital model; the gripper includes the gripping head, motor, electric cylinder, variable stroke guide device, and the variable stroke guide device includes the guide block of the guide device, the guide rod of the guide device and the guide plate , the clamping head is connected with the variable stroke guide device through the connecting seat, the guide block of the guide device is fixedly connected with the electric cylinder, the motor is installed at the end of the electric cylinder, and the clamping head moves along the guide rod of the guide device driven by the electric cylinder;

Step 2. Control the position of the gripper in the Z direction; the motor drives the gripper to move in the Z direction, and position the gripper through the grating ruler;

Step 3. Control the clamping arm of the clamper to complete the opening action; the piston rod of the cylinder is driven forward by the cylinder and drives the clamping push rod to move forward, and the clamping push rod drives the two clamping arms around the clamping The push shaft rotates to complete the opening action of the clamping arm;

Step 4. Complete the clamping of the stringer; place the determined Z-shaped stringer on the clamping seat, and the piston rod of the cylinder shrinks inward under the drive of the cylinder, driving the clamping push rod to move backward, and the clamping push rod drives The two clamping arms are closed to complete the clamping of the stringer;

Step 5. Set the sensor; the gripper monitors the size of the clamping force when clamping the stringer through the force sensor, and controls the contact force between the stringer and the skin through the feedback of the force sensor;

Step 6. Complete the bonding of the stringer and the skin; after the clamping head clamps the stringer, the motor controls the piston rod of the electric cylinder to move forward, and drives the variable stroke guide device connected with the piston rod of the electric cylinder to move, thereby Drive the gripper to move forward as a whole; when the contact force between the long stringer held by the gripper and the skin reaches the threshold set by the force sensor, the force sensor transmits a "stop" signal to the control system, and the control system controls the clamping The device stops moving to complete the bonding of the stringer and the skin.

Beneficial effect

The technological method of aircraft Z-shaped long stringer clamping that the present invention proposes, at first design digital model and complete the assembly of clamper; Utilize adjusting spring to adjust clamping arm and realize clamping the aircraft Z-shaped long stringer of various different thicknesses, to adapt to Flexible assembly of different aircraft panels; and a force sensor is installed in the gripper to monitor the contact force between the stringer and the skin through the force sensor, and through the reasonable setting and control of the contact force, the skin and skin can be reduced. Damage to the skin caused by the stringer due to no contact or excessive contact force; at the same time, the clamping head slides in the guide groove of the guide plate through the guide post, and the inclination angle of the guide groove is equal to the contact between the stringer and the skin when the clamping head moves to the terminal The angle between the tangent line of the skin at the point and the normal line at the point, during the panel assembly process, the clamper clamps the stringer and moves forward along the inclination angle, which ensures the tight fit of the stringer and the skin, and improves Improve the assembly quality of aircraft panels.

Description of drawings

A process for clamping aircraft Z-shaped stringers according to the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

Figure 1 is an isometric view of an aircraft stringer gripper.

Figure 2 is a cross-sectional view of the stringer clamping head.

Figure 3 is a cross-sectional view of the clamping head assembly.

Figure 4 is a schematic diagram of the structure of the guide plate.

In the picture:

1. Motor 2. Coupling 3. Electric cylinder 4. Guide rod of guide device 5. Guide block of guide device 6. Connecting seat 7. Guide slot 8. Guide post 9. Guide plate 10. Rotating shaft 11. Force sensor 12. Sensor spring 13. Clamping fixed plate 14. Spring guide post 15. Cylinder 16. Cylinder piston rod 17. Adjusting spring 18. Clamping push rod 19. Clamping push shaft 20. Clamping fixed shaft 21. Clamping arm 22. Clamping Fixing seat 23. Rubber pad 24. Clamping plate

Detailed ways

This embodiment is a process method for clamping the Z-shaped stringer of an aircraft. Applying this process method to position and clamp the Z-shaped long truss of a certain type of aircraft, the specific steps are as follows:

The first step is to complete the assembly of the gripper according to the design digital model; the gripper includes a gripping head, a guide plate, a motor, an electric cylinder, and a variable stroke guide device, and the variable stroke guide device includes a guide block 5, a guide device The guide rod 4 and the guide plate, the clamping head is connected with the variable stroke guide device through the connecting seat, the guide block 5 of the guide device is fixedly connected with the electric cylinder 3, the motor 1 is installed on the end of the electric cylinder 3 through the coupling 2, and the clamping The head moves along the guide rod 4 driven by the electric cylinder 3; see Fig. 1 and Fig. 2 .

The second step is to control the position of the gripper in the Z direction; the gripper is driven to move in the Z direction by the motor 1, and the gripper is precisely positioned by the grating ruler during the movement, and the gripper is detected by the laser tracker after the positioning is completed The location of the upper target point to determine the precise positioning of the gripper in the Z direction.

The third step is to control the clamping arm of the clamper to complete the opening action; the piston rod 16 of the clamping head cylinder is stretched forward under the drive of the cylinder 15 and drives the clamping push rod 18 to move forward, and the clamping push rod 18 drives The two clamping arms 21 rotate around the clamping push shaft 19 to complete the opening action of the clamping arms, as shown in FIG. 3 .

The fourth step is to complete the clamping of the stringer; place the determined Z-shaped stringer on the clamping seat 22, and the cylinder piston rod 16 shrinks inward under the drive of the cylinder 15, and drives the clamping push rod 18 to move backward , the clamping push rod 18 drives the two clamping arms 21 to rotate around the clamping push shaft 19 to complete the clamping of the stringer, as shown in FIG. 3 .

The fifth step is to set the sensor; the gripper monitors the magnitude of the clamping force when clamping the stringer through the force sensor, and controls the contact force between the stringer and the skin through the feedback of the force sensor.

The sixth step is to complete the bonding of the stringer and the skin; after the clamping head clamps the stringer, the motor 1 controls the piston rod of the electric cylinder 3 to move forward, and drives the guide rod connected with the piston rod of the electric cylinder 4 moves forward, thereby driving the clamping head to move forward as a whole. When the contact force between the long stringer clamped by the gripper and the skin reaches the threshold set by the force sensor 11, the force sensor 11 immediately transmits a "stop" signal to the control system, and the control system controls the gripper to stop moving, and the long stringer is completed. Fitting of truss to skin.

When the stringer clamper moves forward, before the stringer clamped by the clamping head contacts the skin, a fixed distance is maintained between the clamping head and the force sensor 11 through the force sensor spring 12 . After the stringer clamped by the clamping head is in contact with the skin, the clamping frame remains motionless, the entire aircraft stringer clamper continues to move forward, and the force sensor 11 continues to move forward relative to the clamping frame. At this time, the force sensor spring 12 will be compressed, and the contact force between the aircraft stringer and the skin will be transmitted to the force sensor 11. When the contact force measured by the force sensor 11 exceeds a given threshold, the control system will stop the clamping of the aircraft stringer. The movement of the device avoids damage to the skin caused by continuous feeding, and realizes the monitoring of the contact force between the aircraft stringer and the skin during the assembly process. At the same time, the clamping head slides in the inclined guide groove 7 of the guide plate 9 through the guide post 8. The oblique angle of this inclined guide groove is equal to the tangent line of the skin at the point of contact between the stringer and the skin when the clamping head moves to the terminal and the point out of this point. The included angle of the normal line, during the panel assembly process, the gripper clamps the stringer and moves forward along the oblique angle, which ensures the tight fit between the stringer and the skin, and improves the assembly quality of the aircraft panel, see Figure 4 .

Claims (1)

1., for a process for aircraft Z-type long purlin positioning clamping, it is characterized in that comprising the following steps:

Step 1. completes the assembling of clamper according to design digital-to-analogue; Clamper comprises clamping head, electric mechanical, electrical cylinder, route-variable guide piece, route-variable guide piece comprises guide piece guide block, guide piece guide rod and guide plate, clamping head is connected with route-variable guide piece by Connection Block, guide piece guide block and electric cylinder are connected, motor is arranged on the end of electric cylinder, and clamping head moves along guide piece guide rod under electric cylinder drives;

Step 2. controls the position of clamper in Z-direction; Motor drives clamper to move in Z-direction, and by grating scale positioning clamp holder;

The clamping limb that step 3. controls clamper completes expansion action; Cylinder piston rod stretches out forward and drives clamping push rod to travel forward under cylinder drives, and clamping push rod drives two clamping limbs to rotate the expansion action of clamping limb around clamping push shaft;

Step 4. completes the clamping of long purlin; Being placed on long for the Z-type determined purlin grips on seat, and cylinder piston rod shrinks inwards under the drive of cylinder, and drive clamping push rod to move backward, clamping push rod drives two clamping limbs to close, and completes the clamping to long purlin;

Step 5. setting sensor; Clamper monitors the size of the Clamping force when clamping long purlin by force snesor, by the contact force of the long purlin of force snesor controlled reset and covering;

Step 6. completes the laminating of long purlin and covering; After clamping head clamps long purlin, travelled forward by electric machine control electricity cylinder piston rod, and drive the route-variable guide piece be connected with electric cylinder piston rod to move, thus drive clamper entirety to travel forward; When the long purlin of gripper and covering contact force arrive the threshold value set by force snesor, "signal for " stop " is transferred to control system by force snesor, and control system controls clamper stop motion, completes the laminating of long purlin and covering.