CN107651045A - A kind of aircraft wing box turns station and uses AVG cars and its vehicle-mounted wing box posture adjustment alignment system - Google Patents

Abstract

The invention discloses an AVG vehicle for an aircraft wing box transfer station and a vehicle-mounted wing box attitude adjustment and positioning system, belonging to the technical field of aircraft digital assembly auxiliary tooling. The AVG vehicle includes a control unit, a detection unit, a frame, and a vehicle-mounted wing box attitude adjustment and positioning system mounted on the frame and controlled by the control unit; the vehicle-mounted wing box attitude adjustment and positioning system includes a bracket to adjust the attitude of the bracket The bracket support seat, and the wing box tooling transfer and holding device fixed on the bracket; the base of the bracket support seat is fixed on the frame; the detection unit includes an attitude measurement sensor, which outputs the detection of the attitude of the bracket to the control unit Signal. Through the cooperation of the vehicle-mounted wing box attitude adjustment positioning system and the AVG vehicle, the wing box tooling with the wing box clamped can be well transported between multiple stations, which can not only improve the safety of transfer, but also improve the efficiency of transfer. It can be widely used in the technical field of aircraft assembly.

Description

An AVG vehicle for aircraft wing box transfer station and its vehicle-mounted wing box attitude adjustment and positioning system

technical field

The invention relates to an aircraft digital assembly auxiliary tooling, in particular to an AVG vehicle for an aircraft wing box transfer station and a vehicle-mounted wing box attitude adjustment and positioning system.

Background technique

Modern aircraft assembly lines are often arranged in a multi-station assembly mode. For example, the aircraft wing box waiting for processing parts needs to be transferred between each station. Usually, the aircraft wing box transfer station is used for station transfer and connection with AVG vehicles. AVG The electromagnetic or optical automatic guiding devices on the vehicle make it travel along the pre-paved guiding paths such as electromagnetic tracks to realize automatic transfer and connection between stations. However, in the process of transfer and connection, the following problems are often encountered: the flatness of the ground on which the AVG vehicle is driving is not enough or there is an attitude error between the skeleton tooling base on the AGV car and the skeleton tooling base in the assembly station, which may easily lead to wing failure. The box tilts during the transfer and connection process, which brings potential safety hazards.

Contents of the invention

The purpose of the present invention is to provide an AVG vehicle for an aircraft wing box transfer station, so that the wing box can be transported between different stations along with the wing box tooling;

Another object of the present invention is to provide a vehicle-mounted wing box attitude adjustment and positioning system for constructing the above-mentioned AVG vehicle.

In order to achieve the above object, the AVG car for the aircraft wing box transfer station provided by the present invention includes a control unit, a detection unit, a vehicle frame, and a vehicle-mounted wing box attitude adjustment and positioning system mounted on the vehicle frame and controlled by the control unit; The attitude adjustment and positioning system includes a bracket, a bracket support seat for adjusting the attitude of the bracket, and a wing box tooling transfer and holding device fixed on the bracket; the base of the bracket support base is fixed on the frame; the detection unit It includes an attitude measurement sensor, which outputs a detection signal of the attitude of the bracket to the control unit.

When transporting the wing box tooling with the wing box clamped between different stations, the AVG vehicle is controlled to drive along the preset route to the connecting station, and the bracket on the car and the station are measured by the attitude measurement sensor. For the attitude deviation between the station brackets where the wing box tooling is placed, adjust the vehicle orientation and the bracket support seat to adjust the attitude of the bracket with the wheels of the AVG car, and continuously repeat the attitude measurement and attitude adjustment during the adjustment process to make the vehicle The attitude deviation between the bracket and the station bracket is adjusted to the preset value less than the deviation threshold, that is, the attitude adjustment of the vehicle bracket is not completely dependent on the adjustment of the AVG frame itself, which can effectively reduce the impact on the AVG vehicle on the ground. The requirements for positioning accuracy; it can transfer the wing box tooling with the wing box between the station bracket and the vehicle bracket on the AVG car well; when transporting to the next connecting station, it can Through attitude deviation measurement and attitude adjustment, it is convenient to transfer the wing box tooling with the wing box from the AVG vehicle to the bracket of the next station; since the wing box tooling is transported together during the transportation process, it can effectively ensure that the entire Stability and safety during transportation.

The specific plan is that the bracket support base is arranged on both sides of the bracket, and the number of each side is more than two; the bracket support base includes a three-coordinate locator and a hanger fixed on the side of the bracket, three The output end of the coordinate locator is connected with the hanger through a ball-joint hinge mechanism. The three-coordinate locator and the hanger are connected through the ball joint mechanism, so that the output ends of multiple three-coordinate locators can adjust the attitude of the bracket at the same time.

A more specific solution is that the three-coordinate positioner includes a first traversing slide that is slidably connected to the base through a guide rail slider mechanism, and a traversing actuator that drives the first traversing slide to slide relative to the base along the first lateral direction. The slider mechanism is slidingly connected to the first traversing slide, the lifting actuator that drives the lifting platform to slide vertically relative to the first traversing slide, and the second traverse that is slidably connected to the lifting platform through the guide rail slider mechanism. The sliding platform is used to drive the traversing actuator that the second traversing sliding platform slides relative to the lifting platform along the second lateral direction; the ball joint hinge mechanism includes a ball seat fixed on the hanger and a ball seat fixed on the second traversing sliding The first horizontal direction and the second horizontal direction are perpendicular to the supporting ball head on the stage.

Another specific scheme is that the two ends of the bracket are respectively equipped with attitude measurement sensors, and the attitude measurement sensors include two layers of displacement sensor layers arranged parallel to each other or include one layer of displacement sensor layers and are different from the layer of displacement sensor layers. Co-layer positioning and measuring cameras; each displacement sensor layer group includes more than two displacement sensors arranged in parallel to each other, and the displacement sensors are fixed on the bracket through a telescopic mechanism arranged along the length direction of the bracket in the telescopic direction. Using distance measuring instruments such as displacement sensors and positioning measurement cameras to construct attitude measurement sensors can simplify the structure of the entire attitude measurement sensor and reduce its manufacturing cost.

The preferred solution is that the wing box tooling transfer and holding device includes a chute seat fixed on the bracket, arranged on both sides of the chute seat for supporting the roller guide rails of the wing box tooling, which can be moved along the bar-shaped chute on the chute seat Sliding rivet slot seat, and the driver that pulls the rivet slot seat along the strip chute reciprocally through the chain; the roller guide rail is composed of a row of parallel rollers, and the strip chute is arranged along the length direction of the bracket; The rivet slot seat is provided with a rivet slot matching the rivet fixed on the wing box tooling, and the rivet seat is controlled by the control unit to rotate around the vertical axis between the locking position and the release position. Provide support and guidance for the wing box tooling to move in/out of the AVG vehicle through the roller guide rail, while providing heavy-duty support, reduce the friction of moving in and out; use the pull nail groove on the pull nail groove seat and the pull nail fixed on the wing box tooling The cooperation of the wing box tooling can well realize the locking and holding, pulling and unlocking of the wing box tooling when it is pulled out.

In order to achieve the above-mentioned another purpose, the vehicle-mounted wing box attitude adjustment and positioning system provided by the present invention includes a bracket, a bracket support seat for adjusting the attitude of the bracket, a wing box tooling transfer and holding device fixed on the bracket, and The detection unit is fixed on the bracket; the base of the bracket support seat is used to be fixed on the frame of the AVG vehicle; the detection unit includes an attitude measurement sensor and outputs a detection signal for the attitude of the bracket.

The specific plan is that the bracket support base is arranged on both sides of the bracket, and the number of each side is more than two; the bracket support base includes a three-coordinate locator and a hanger fixed on the side of the bracket, three The output end of the coordinate locator is connected with the hanger through a ball-joint hinge mechanism.

A more specific solution is that the three-coordinate positioner includes a first traversing slide that is slidably connected to the base through a guide rail slider mechanism, and a traversing actuator that drives the first traversing slide to slide relative to the base along the first lateral direction. The slider mechanism is slidingly connected to the first traversing slide, the lifting actuator that drives the lifting platform to slide vertically relative to the first traversing slide, and the second traverse that is slidably connected to the lifting platform through the guide rail slider mechanism. The sliding platform is used to drive the traversing actuator that the second traversing sliding platform slides relative to the lifting platform along the second lateral direction; the ball joint hinge mechanism includes a ball seat fixed on the hanger and a ball seat fixed on the second traversing sliding The first horizontal direction and the second horizontal direction are perpendicular to the supporting ball head on the platform.

Another specific scheme is that the two ends of the bracket are respectively equipped with attitude measurement sensors, and the attitude measurement sensors include two layers of displacement sensor layers arranged parallel to each other or include one layer of displacement sensor layers and are different from the layer of displacement sensor layers. Co-layer positioning and measuring cameras; each displacement sensor layer group includes more than two displacement sensors arranged in parallel to each other, and the displacement sensors are fixed on the bracket through a telescopic mechanism arranged along the length direction of the bracket in the telescopic direction.

The preferred solution is that the wing box tooling transfer and holding device includes a chute seat fixed on the bracket, arranged on both sides of the chute seat for supporting the roller guide rails of the wing box tooling, which can be moved along the bar-shaped chute on the chute seat Sliding rivet slot seat, and the driver that pulls the rivet slot seat along the strip chute reciprocally through the chain; the roller guide rail is composed of a row of parallel rollers, and the strip chute is arranged along the length direction of the bracket; The rivet groove seat is provided with a rivet groove matching with the rivet fixed on the wing box tooling, and the rivet groove seat can rotate back and forth between the locking position and the release position around the vertical axis.

Through the cooperation of the vehicle-mounted wing box attitude adjustment positioning system and the AVG vehicle, the wing box tooling with the wing box clamped can be well transported between multiple stations, which can not only improve the safety of the transfer, but also improve the efficiency of the transfer.

Description of drawings

Fig. 1 is the perspective view of the AVG car of the aircraft wing box transfer station in the embodiment of the present invention;

Fig. 2 is the perspective view of the AVG car after omitting the housing and the control panel for the aircraft wing box transfer station in the embodiment of the present invention;

3 is a perspective view of the vehicle-mounted wing box attitude adjustment and positioning system in an embodiment of the present invention;

Fig. 4 is a partial enlarged view of A in Fig. 3;

5 is a perspective view of a chain-type driving and holding device in an embodiment of the present invention;

6 is a perspective view of a bracket support seat in an embodiment of the present invention;

7 is a perspective view of the X-direction base unit of the bracket support seat in the embodiment of the present invention;

8 is a perspective view of the Z-direction slide unit of the bracket support seat in the embodiment of the present invention;

Fig. 9 is an exploded view of the hanger and the Y-direction slide unit in the embodiment of the present invention.

Detailed ways

The present invention will be further described below in conjunction with embodiment and accompanying drawing.

Example

Referring to Fig. 1 and Fig. 2, the AVG vehicle for the aircraft wing box transfer station of the present invention comprises a vehicle frame 10, a heavy-duty wheel 11, a casing 12, a control panel 13, a hydraulic support foot 14, a power unit, a detection unit and a vehicle frame The vehicle-mounted wing box attitude adjustment positioning system 2 on 10. Wherein, the control panel 13 is installed on the housing 12, constitutes the control unit in this embodiment, receives the detection signal input by the detection unit and the control information manually input, and controls the position of the vehicle-mounted wing box attitude adjustment and positioning system 2 and the hydraulic support feet 14. The action and control power unit drives eight heavy-duty wheels to rotate to control the driving state of the entire AVG car; eight hydraulic support feet 14 are distributed three on both sides of the vehicle frame 10, and one is respectively arranged in the middle of the front and rear ends for Parking to move in or out of the wing box tooling is supported on the ground to provide smooth support for the entire transfer process.

Referring to FIG. 2 and FIG. 3 , the vehicle-mounted wing box attitude adjustment and positioning system 2 includes a bracket 20 , a bracket support seat 4 , an attitude measurement sensor, and a wing box tooling transfer and holding device fixed on the bracket 20 . Wherein, the attitude measurement sensor constitutes a component part of the detection unit.

Referring to Fig. 3 and Fig. 4, the posture measurement sensor comprises two layers of displacement sensor layers 8 arranged parallel to each other and a positioning measurement camera 9, and each layer of displacement sensor layers 8 includes more than two displacement sensors 80 arranged in parallel to each other, and the displacement sensor 80 The telescopic mechanism arranged along the length direction of the bracket 20 in the telescopic direction is fixed on the bracket 20; in this embodiment, the two displacement sensors 80 in the same displacement sensor layer group 8 are driven and controlled by the same telescopic mechanism. The telescoping mechanism includes a U-shaped mounting frame 81 for installing the displacement sensor 80, a servo motor 82, a screw mandrel 84 and a screw nut 85 matched with the screw mandrel 84, and the rotating shaft of the servo motor 82 is connected to one end of the screw mandrel 84 through transmission. The screw nut 85 is fixedly connected with the mounting frame 81, so that the two displacement sensors 80 are simultaneously pushed by the telescopic mechanism to measure the distance between the bracket 20 and the corresponding two points between the bracket of the corresponding station, thereby through four displacements The sensor 80 measures the distance difference between the four non-collinear points, supplemented by the positioning measurement of the positioning measurement camera 9 to obtain the posture deviation between the bracket 20 and the workstation bracket. Of course, the attitude measurement sensor is only made of two layers of displacement sensor layers 8 or is composed of a layer of displacement sensor layers 8 and a positioning measurement camera 9 that is not in the same layer as the layer of displacement sensor layers 8, that is, it only needs to measure three layers. If the distance deviation between two non-collinear corresponding points is calculated, the attitude deviation between the two can be calculated.

Referring to Figures 3 to 5, the wing box tooling transfer and holding device includes a roller guide rail and a chain-type dragging and holding mechanism 3; the chain-type dragging and holding mechanism 3 includes a chute seat 30, a chain 31, a driving sprocket 32, a driving motor 33, and a pull nail Groove seat 34, driven sprocket 37 and speed reducer 38, the length direction of chute seat 30 is arranged on the bracket 20 along the length direction of bracket 20; One end of the chain 31 straddling the driving sprocket 32 and the driven sprocket 37 is fixedly connected with one of the rivet grooves 34, and the other end is fixedly connected with the other rivet groove 34, thereby forming an endless chain structure; After the motor 33 is decelerated by the reducer 38, the rotation of the drive sprocket 32 is driven by the cooperation of the sprocket and the chain, so that the two pull nail groove seats 34 can be pulled back and forth along the strip chute 300 arranged on the chute seat 30 Slidingly, the strip slide groove 300 is arranged along the length direction of the bracket 20 .

The rivet slot 34 is provided with a rivet groove 35 matched with the rivet 36, the rivet 36 is fixed on the wing box tooling, and the rivet trough 34 can rotate around its axis under the drive of the driver, thereby Make the notches of the pull nail grooves 35 on the two pull nail groove seats 34 have different orientations, and lock the entire wing box tooling on the vehicle-mounted wing box attitude adjustment and positioning system by cooperating with the support of the roller guide rail, that is, lock it on the AVG in the car.

The roller guide rail is composed of a row of parallel rollers 21 arranged on both sides of the chute seat 30, which constitutes the support for the wing box tooling placed on the bracket 20 and the guide when it is moved in or out. Rolling friction is formed between them to reduce friction.

Referring to Fig. 3 and Fig. 6, three bracket support seats 4 are respectively fixed on the two sides of the bracket 20, and the three bracket support seats 4 arranged on the same side are evenly arranged along the length direction of the bracket 20; The frame support base 4 includes a three-coordinate positioner 41 and a hanger 42 fixed on the side of the bracket 20 .

Referring to FIGS. 6 to 9 , the three-coordinate positioner 41 includes an X-direction base unit 5 , a Z-direction slide unit 6 and a Y-direction slide unit 7 .

The X-direction base unit 5 comprises a base 50 fixed on the vehicle frame 10 as shown in Figure 1, an X-direction slide table 55 slidably installed on the base 50 by a guide rail slider mechanism, and the guide rail slider mechanism is formed along the X direction. The X-direction guide rail 56 arranged in the direction and the slider 54 that can slide along the X-direction guide rail 56 are composed.

The Z slide unit 6 includes a mount 60 fixed on the X slide 55, a Z slide 65 slidably installed on the mount 60 by a guide rail slider mechanism, and the guide rail slider mechanism is formed along the Z direction. The arranged Z-guiding rail 66 and the sliding block 67 that can slide along the Z-guiding rail 66 are composed. The servo motor 63 pushes the Z-directing slide table 65 through the screw nut mechanism to drive the sliding block 67 to slide along the Z-guiding rail 66 .

The Y direction slide unit 7 comprises a mounting base 70 fixed on the Z slide 65, a Y slide 75 slidably installed on the mounting base 70 by a guide rail slider mechanism, and the guide rail slider mechanism is formed along the Y direction. Arranged Y-guided rails and sliders that can slide along the Z-guided rails. The servo motor 72 pushes the Y-directed slide table 75 through the screw nut mechanism to drive the slider to slide along the Y-guided rails. During the sliding process, the servomotor 72 Power lines and other circuits are integrated in the drag chain 77. A cantilever support portion 750 protrudes from the Y-direction slide table 75 , and a support ball head 76 is fixed on the cantilever support portion 750 .

The hanger 41 is a door-shaped structure surrounded by the side arm 44, the side arm 45 and the cross arm 43. The lower ends of the side arms 44, 45 are fixedly connected to the side wall surface of the bracket 20, and the middle part of the lower arm surface of the cross arm 43 There is a ball seat 46 that is matched with the support ball head 76, and the support ball head 76 and the ball seat 46 form a ball joint mechanism, that is, the output end of the three-coordinate locator 41 is connected to the hanger through the ball joint mechanism. 42 connections.

In this embodiment, the X direction, the Y direction and the Z direction constitute the first transverse direction, the second transverse direction and the vertical direction respectively, that is, the first transverse direction and the second transverse direction are perpendicular to each other. Of course, from the base 50 to the supporting ball head 76 The arrangement sequence of the extending directions of the three guide rails is not limited to this embodiment, that is, the sequence of X direction, Z direction and Y direction is not limited. The X-direction slide table 55 is fixedly connected with the mounting base 60 to form the first traverse slide table in this embodiment, the Z-direction slide table 65 is fixedly connected with the mounting base 70 to form the lift platform in this embodiment, and the Y-direction slide table 75 constitutes the second traverse slide in this embodiment, and the servo motors 52, 63, and 72 constitute the traverse actuator, lifting actuator and traverse actuator in this embodiment respectively.

Among them, the wing box tooling conveying and holding device is used to lock the wing box tooling with the wing box that is transferred from the station bracket to the bracket 20, and when it is transferred to the next connecting station, the wing box The box tooling pushes out the bracket 20 and releases the locking of the wing box tooling, including positioning devices, clamping devices, auxiliary support devices and transfer devices. Of course, its structure is not limited to the above-mentioned embodiments. For example, two The above friction wheels drive the entire wing box tooling to slide along the roller slide rail to form a transfer mechanism.

The specific working steps are as follows:

(1) After the AGV vehicle reaches the connection position under the guidance of the ground magnetic stickers, the eight hydraulic support feet 14 are controlled to extend out to firmly support the AGV vehicle on the ground;

(2), by 4 displacement sensors 80 and 2 positioning measurement cameras 9 positioned on the bracket 20, measure the posture deviation of the bracket 20 on the AGV vehicle relative to the station bracket in the assembly station, and convert it into The attitude adjustment amount of the bracket 20;

(3), the bracket posture adjustment unit that the numerical control three-coordinate locator 41 on the six bracket support bases 4 forms is adjusted the position and the attitude of the bracket 20 according to the measured attitude adjustment amount, and constantly measures two in the adjustment process The posture deviation between them is used to align the bracket 20 with the station bracket in the assembly station, even if the posture deviation between the two is smaller than the posture deviation threshold value, that is, the distance deviation between more than three distance measurement points is smaller than the predetermined distance measurement point. set threshold;

(4) Send the wing box tooling with the wing box from the AGV to the assembly station, the clamping device on the AGV bracket 20 is automatically released, and the chain dragging and holding mechanism 3 sends the wing box tooling to the assembly station If the wing box is sent from the assembly station to the AGV car, the tooling positioning and clamping device on the station bracket in the assembly station will be loosened, and the wing box tooling will be sent alternately through the friction wheels. On the bracket 20 on the AGV car or transfer it to the AVG car by a mechanism with the same structure as the chain type dragging and holding mechanism 3, then lock it and install the protection device;

(5), the hydraulic support feet 14 of the AGV are retracted, the power unit drives the heavy-duty wheels 11, and the AGV drives away and goes to the next assembly station in parallel.

Claims (10)

1. an aircraft wing box transfer station AVG car, comprising a control unit, a detection unit, a vehicle frame and a vehicle-mounted wing box attitude adjustment and positioning system mounted on the vehicle frame and controlled by the control unit, characterized in that: The vehicle-mounted wing box attitude adjustment and positioning system includes a bracket, a bracket support seat for adjusting the attitude of the bracket, and a wing box tooling transfer and holding device fixed on the bracket; the bracket supports The base of the seat is fixed on the frame; The detection unit includes an attitude measurement sensor, and outputs a detection signal for the attitude of the bracket to the control unit. 2. The AVG car for the aircraft wing box transfer station according to claim 1, characterized in that: The bracket support seats are arranged on both sides of the bracket, and the number on each side is more than two; The bracket support base includes a three-coordinate locator and a hanger fixed on the side of the bracket, and the output end of the three-coordinate locator is connected to the hanger through a ball joint mechanism. 3. The AVG car for the aircraft wing box transfer station according to claim 2, characterized in that: The three-coordinate positioner includes a first traversing slide that is slidably connected to the base through a guide rail slider mechanism, and a traversing actuator that drives the first traversing slide to slide relative to the base in a first transverse direction , the lifting platform slidingly connected with the first traversing slide table through the guide rail slider mechanism, the lifting actuator that drives the lifting platform to slide vertically relative to the first traversing slide table, through the guide rail slider mechanism A second traversing slide that is slidably connected to the lifting platform drives a traversing actuator that slides the second traversing slide relative to the lifting platform in a second lateral direction; The ball joint mechanism includes a ball seat fixed on the hanger and a supporting ball seat fixed on the second traversing slide table, the first transverse direction is opposite to the second transverse direction pay. 4. The AVG car for the aircraft wing box transfer station according to claim 1, characterized in that: Both ends of the bracket are respectively provided with the attitude measurement sensor, and the attitude measurement sensor includes two layers of displacement sensor layers arranged parallel to each other or includes a layer of displacement sensor layers and is different from the layer of displacement sensor layers. Co-layer positioning measurement camera; Each displacement sensor layer group includes more than two displacement sensors arranged parallel to each other, and the displacement sensors are fixed on the bracket through a telescopic mechanism arranged along the length direction of the bracket. 5. The AVG vehicle for the aircraft wing box transfer station according to any one of claims 1 to 4, characterized in that: The wing box tooling transfer and holding device includes a chute seat fixed on the bracket, arranged on both sides of the chute seat for supporting the roller guide rails of the wing box tooling, which can be moved along the chute seat The rivet slot seat that slides in the strip chute, and the driver that pulls the rivet slot seat to reciprocate along the strip chute through a chain; the roller guide rail is composed of a row of rollers with parallel shafts. The bar-shaped chute is arranged along the length direction of the bracket; The rivet groove seat is provided with a rivet groove that matches the rivet fixed on the wing box tooling, and the rivet groove seat is controlled by the control unit in the locking position and the release position around the vertical axis. rotate between. 6. A vehicle-mounted wing box attitude adjustment and positioning system of an AVG car for an aircraft wing box transfer station, characterized in that: the vehicle-mounted wing box attitude adjustment and positioning system includes a bracket, a bracket for adjusting the attitude of the bracket The support base, the wing box tooling transfer and holding device fixed on the bracket, and the detection unit fixed on the bracket; the base of the bracket support base is used to be fixed on the frame of the AVG car ; The detection unit includes an attitude measurement sensor, which outputs a detection signal for the attitude of the bracket. 7. The vehicle-mounted wing box attitude adjustment and positioning system according to claim 6, characterized in that: The bracket support seats are arranged on both sides of the bracket, and the number on each side is more than two; The bracket support base includes a three-coordinate locator and a hanger fixed on the side of the bracket, and the output end of the three-coordinate locator is connected to the hanger through a ball joint mechanism. 8. The vehicle-mounted wing box attitude adjustment and positioning system according to claim 7, characterized in that: The three-coordinate positioner includes a first traversing slide that is slidably connected to the base through a guide rail slider mechanism, and a traversing actuator that drives the first traversing slide to slide relative to the base in a first transverse direction , the lifting platform slidingly connected with the first traversing slide table through the guide rail slider mechanism, the lifting actuator that drives the lifting platform to slide vertically relative to the first traversing slide table, through the guide rail slider mechanism A second traversing slide that is slidably connected to the lifting platform drives a traversing actuator that slides the second traversing slide relative to the lifting platform in a second lateral direction; The ball joint mechanism includes a ball seat fixed on the hanger and a supporting ball seat fixed on the second traversing slide table, the first transverse direction is opposite to the second transverse direction pay. 9. The vehicle-mounted wing box attitude adjustment and positioning system according to claim 6, characterized in that: Both ends of the bracket are respectively provided with the attitude measurement sensor, and the attitude measurement sensor includes two layers of displacement sensor layers arranged parallel to each other or includes a layer of displacement sensor layers and is different from the layer of displacement sensor layers. Co-layer positioning measurement camera; Each displacement sensor layer group includes more than two displacement sensors arranged parallel to each other, and the displacement sensors are fixed on the bracket through a telescopic mechanism arranged along the length direction of the bracket. 10. The vehicle-mounted wing box attitude adjustment and positioning system according to any one of claims 6 to 9, characterized in that: The wing box tooling transfer and holding device includes a chute seat fixed on the bracket, arranged on both sides of the chute seat for supporting the roller guide rails of the wing box tooling, which can be moved along the chute seat The rivet slot seat that slides in the strip chute, and the driver that pulls the rivet slot seat to reciprocate along the strip chute through a chain; the roller guide rail is composed of a row of rollers with parallel shafts. The bar-shaped chute is arranged along the length direction of the bracket; The rivet slot seat is provided with a rivet slot matching with the rivet fixed on the wing box tooling, and the rivet slot seat can rotate back and forth between the locking position and the release position around the vertical axis.