CN117184436A - Digital assembly system and control method for helicopter final assembly - Google Patents
Digital assembly system and control method for helicopter final assembly Download PDFInfo
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- CN117184436A CN117184436A CN202311127147.2A CN202311127147A CN117184436A CN 117184436 A CN117184436 A CN 117184436A CN 202311127147 A CN202311127147 A CN 202311127147A CN 117184436 A CN117184436 A CN 117184436A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention discloses a helicopter assembly digital assembly system and a control method, wherein the helicopter assembly digital assembly system comprises: the base is provided with a first guide rail and a second guide rail; the switching tool is provided with four switching bulbs; the support bracket is provided with a guide car ball head and a base ball head; the two moving tools are provided with mounting sub-platforms and are movably arranged on the first guide rail; four gesture adjusting devices, each gesture adjusting device is provided with a gesture adjusting locking device; the automatic guiding vehicle is provided with a vehicle-mounted jacking device, and the vehicle-mounted jacking device is provided with a vehicle-mounted locking device; the base jacking device is provided with a base locking device; a measuring device; and a control device. The helicopter assembly digital assembly system provided by the embodiment of the invention has the advantages of good stability, high assembly precision and the like.
Description
Technical Field
The invention relates to the technical field of aircraft manufacturing, in particular to a helicopter assembly digital assembly system and a control method of the helicopter assembly digital assembly system.
Background
When the helicopter is assembled, the transmission assembly and the engine are required to be mounted on the helicopter body. The transmission assembly and the engine are required to be subjected to posture adjustment and butt joint and finally mounted on the machine body.
The general assembly mode of the helicopter in the related art is to hang the transmission assembly and the engine above the machine body through a crane, and adjust the gesture of the transmission assembly and the engine through operators manually, on one hand, the gesture adjustment difficulty is high because the weight of the transmission assembly and the engine is heavy and the size is also large, and on the other hand, the positioning and assembly precision of the transmission assembly and the engine is difficult to guarantee because of the limitation of manual operation on precision.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the helicopter assembly digital assembly system which has the advantages of good stability, high assembly precision and the like.
The invention also provides a control method with the helicopter assembly digital assembly system.
To achieve the above object, an embodiment according to a first aspect of the present invention proposes a helicopter assembly digital assembly system including: the base is provided with a first guide rail oriented in the left-right direction and a second guide rail oriented in the front-back direction; the transfer tool is suitable for being detachably connected with a transmission assembly of the helicopter and an engine of the helicopter, and four transfer balls arranged at intervals in the circumferential direction of the transfer tool are arranged on the lower surface of the transfer tool; the support bracket is suitable for supporting a helicopter body, and a guide vehicle ball head and a base ball head are arranged on the lower surface of the support bracket; the two moving tools are provided with mounting sub-platforms, the two moving tools are movably arranged on the first guide rail between an avoidance position and a butt joint position, the two moving tools are mutually spaced at the avoidance position, a transport channel suitable for the passage of the machine body is arranged between the two moving tools, the two mounting sub-platforms are in butt joint with each other to form a mounting platform at the butt joint position, a mounting space suitable for accommodating the machine body is arranged below the mounting platform, and the mounting platform is provided with a mounting port suitable for the passage of the engine and the transmission assembly; the four transfer ball heads are suitable for being respectively detachably matched in the four gesture adjusting locking devices, and the gesture adjusting devices drive the gesture adjusting locking devices in the left-right direction, the front-back direction and the vertical direction; the automatic guiding vehicle can horizontally move on the base and is suitable for passing through the transportation channel, a vehicle-mounted jacking device is arranged on the automatic guiding vehicle, a vehicle-mounted locking device is arranged on the vehicle-mounted jacking device, a guiding vehicle ball head is suitable for being detachably matched in the vehicle-mounted locking device, and the vehicle-mounted jacking device is suitable for driving the machine body to lift; the base jacking device is movably arranged on the second guide rail, a base locking device is arranged on the base jacking device, the base ball head is suitable for being matched in the base locking device, and the base jacking device is suitable for driving the machine body to lift; the measuring device is arranged on the base and is suitable for measuring the pose of the machine body, the transmission assembly and the engine; and the control device is respectively and electrically connected with the gesture adjusting device, the base jacking device and the measuring device.
The helicopter assembly digital assembly system provided by the embodiment of the invention has the advantages of good stability, high assembly precision and the like.
In addition, the helicopter assembly digital assembly system according to the embodiment of the invention can also have the following additional technical characteristics:
according to an embodiment of the present invention, each of the posture adjustment apparatuses includes: the base is arranged on the mounting sub-platform; the first horizontal moving platform is arranged on the base in a manner of moving along the left-right direction; the second horizontal moving platform is arranged on the first horizontal moving platform in a manner of being capable of moving along the front-back direction; the vertical moving platform is arranged on the second horizontal moving platform in a vertically movable manner; the first horizontal driving device is in transmission connection with the first horizontal moving platform; the second horizontal driving device is in transmission connection with the second horizontal moving platform; the vertical driving device is in transmission connection with the vertical movable platform, and the gesture adjusting locking device is arranged on the vertical movable platform.
According to an embodiment of the present invention, each of the posture adjustment apparatuses further includes: the first grating ruler is electrically connected with the first horizontal driving device and is suitable for measuring the position of the first horizontal moving platform; the second grating ruler is electrically connected with the second horizontal driving device and is suitable for measuring the position of the second horizontal moving platform; the vertical grating ruler is electrically connected with the vertical driving device and is suitable for measuring the position of the vertical movable platform.
According to one embodiment of the invention, the first horizontal driving device is a motor and is in transmission connection with the first horizontal moving platform through a gear rack, the second horizontal driving device is a motor and is in transmission connection with the second horizontal moving platform through a ball screw, and the vertical driving device is a motor and is in transmission connection with the vertical moving platform through a ball screw.
According to an embodiment of the present invention, the posture-adjusting locking device, the vehicle-mounted locking device and the base locking device are all ball-head positioners, and the ball-head positioners comprise: the lock comprises a lock body, wherein the upper surface of the lock body is provided with a ball socket suitable for accommodating a ball head;
The lock comprises a lock body, a ball socket, a lock tongue, a locking mechanism and a locking mechanism, wherein the lock tongue is movably arranged on the lock body between a release position, an anti-falling position and a locking position, the lock tongue allows the ball head to be separated from the ball socket when in the release position, the lock tongue prevents the ball head from being separated from the ball socket and allows the ball head to rotate relative to the ball socket when in the anti-falling position, and the lock tongue prevents the ball head from being separated from the ball socket and prevents the ball head from rotating relative to the ball socket when in the locking position; and the locking driving device is in transmission connection with the lock tongue.
According to one embodiment of the invention, the ball head positioner further comprises a three-dimensional force sensor located below the lock body.
According to an embodiment of the present invention, the moving tool further includes: the support is movably arranged on the first guide rail, and the mounting sub-platform is arranged on the support; the stair is connected with the bracket and is suitable for an operator to climb on the mounting sub-platform; the guardrail is arranged at the edge of the mounting sub-platform.
According to one embodiment of the invention, the edge of each mounting sub-platform facing the other mounting sub-platform is provided with a mounting notch, and the two mounting notches jointly define the mounting opening in the abutting position.
According to one embodiment of the invention, the plurality of measuring devices are arranged, and each second guide rail is provided with a plurality of measuring devices which are arranged at intervals.
An embodiment according to a second aspect of the present invention proposes a control method of a helicopter assembly digital assembly system according to an embodiment of the first aspect of the present invention, comprising the steps of:
s1, moving the movable tool to the avoiding position, and descending the base jacking device, wherein the automatic guide vehicle conveys the machine body to the conveying channel, the machine body is supported on the support bracket, and the support bracket is supported on the vehicle-mounted jacking device;
s2, the base jacking device ascends to support the support bracket, the vehicle-mounted jacking device descends, the vehicle-mounted locking device is separated from the vehicle-mounted ball head, the automatic guide vehicle drives out of the transportation channel, the base jacking device descends, and the movable tool moves to the butt joint position;
s3, hoisting the transmission assembly connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the machine body and the transmission assembly by the measuring device, planning a docking track of the transmission assembly by the control device according to a detection result of the measuring device, and docking the transmission assembly and the machine body by the four gesture adjusting devices according to the docking track;
S4, after the transmission assembly and the machine body are installed, the transfer tool is removed;
s5, the movable tool moves to the avoiding position, the base jacking device moves in the front-back direction and drives the machine body to move for a preset distance, and the movable tool moves to the abutting position;
s6, adjusting the position of the movable tool in the left-right direction to enable the mounting opening to vertically correspond to the mounting position of one of the two engines on the machine body;
s7, hoisting the engine connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the engine body and the engine by the measuring device, planning a docking track of the engine by the control device according to a detection result of the measuring device, and completing docking of the engine and the engine body by the four gesture adjusting devices according to the docking track;
s8, after the engine and the machine body are installed, the transfer tool is removed;
s9, repeating the steps S6-S8 to finish the installation of the other engine;
s10, the movable tool moves to the avoidance position, the base jacking device ascends, the automatic guide vehicle drives into the transportation channel, the base jacking device descends, the vehicle-mounted jacking device supports the machine body, the base locking device is separated from the base ball head, and the automatic guide vehicle drives out of the transportation channel.
According to the control method of the helicopter assembly digital assembly system, the helicopter assembly digital assembly system has the advantages of being good in stability, high in assembly accuracy and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural view of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 2 is a schematic partial structure view of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 3 is a schematic structural view of a mobile tooling of a helicopter assembly digital assembly system according to an embodiment of the invention wherein the mobile tooling is in an avoidance position.
Fig. 4 is a schematic structural view of a mobile tooling of the helicopter assembly digital assembly system according to an embodiment of the invention wherein the mobile tooling is in a docked position.
Fig. 5 is a schematic partial structural view of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 6 is a schematic partial structural view of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 7 is a schematic partial structure of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 8 is a schematic structural view of a posture adjustment device of a helicopter assembly digital assembly system according to an embodiment of the invention.
FIG. 9 is a schematic structural view of a ball positioner of a helicopter head assembly digital assembly system according to an embodiment of the invention.
FIG. 10 is a cross-sectional view of a ball head positioner of a helicopter head assembly digital assembly system according to an embodiment of the invention.
FIG. 11 is a schematic structural view of a ball positioner of a helicopter head assembly digital assembly system according to an embodiment of the invention.
Fig. 12 is a schematic structural view of an automated guided vehicle of a helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 13 is a schematic diagram of the operation of the helicopter assembly digital assembly system according to an embodiment of the invention.
Fig. 14 is a flowchart of a control method of the helicopter final assembly digital assembly system according to an embodiment of the invention.
Reference numerals: the helicopter general assembly digital assembly system 1, a base 10, a first guide rail 11, a second guide rail 12, a switching tool 20, a support bracket 30, a moving tool 40, a mounting sub-platform 41, a bracket 42, a stair 43, a guardrail 44, a transportation channel 45, a mounting platform 46, a mounting space 47, a mounting port 48, a posture adjustment device 50, a posture adjustment locking device 51, a base 52, a first horizontal moving platform 53, a second horizontal moving platform 54, a vertical moving platform 55, an automatic guiding vehicle 60, a vehicle-mounted jacking device 61, a vehicle-mounted locking device 62, a base jacking device 70, a base locking device 71, a measuring device 80, a ball head positioner 90, a lock body 91, a ball socket 92, a lock tongue 93, a locking driving device 94, a three-dimensional force sensor 95, a transmission assembly 2, an engine 3 and a fuselage 4.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
A helicopter final assembly digital assembly system 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 14, the helicopter final assembly digital assembly system 1 according to the embodiment of the invention comprises a base 10, a transfer tool 20, a support bracket 30, two moving tools 40, four attitude adjusting devices 50, an Automatic Guided Vehicle (AGV) 60, a base jacking device 70, a measuring device 80 and a control device.
The base 10 is provided with a first rail 11 oriented in the left-right direction and a second rail 12 oriented in the front-rear direction (up-down, left-right, and front-rear directions are shown by arrows in the figure).
The switching frock 20 is suitable for and links to each other with the transmission assembly 2 of helicopter and the engine 3 detachably of helicopter, and the lower surface of switching frock 20 is equipped with four switching bulb that set up at the circumference interval of switching frock 20. It is to be understood herein that "the adapter fixture 20 is adapted to be detachably connected to the transmission assembly 2 of the helicopter and the engine 3 of the helicopter" means that the adapter fixture 20 may be detachably connected to the transmission assembly 2 as well as to the engine 3 and that the adapter fixture 20 is simultaneously detachably connected to one of the transmission assembly 2 and the engine 3.
The support bracket 30 is adapted to support the fuselage 4 of the helicopter, and the lower surface of the support bracket 30 is provided with a guide car ball head and a base ball head.
The moving tools 40 are provided with mounting sub-platforms 41, the two moving tools 40 are movably arranged on the first guide rail 11 between an avoidance position and a docking position, the two moving tools 40 are mutually spaced in the avoidance position, a transport channel suitable for the passage of the machine body 4 is arranged between the two moving tools 40, the two mounting sub-platforms 41 are docked into a mounting platform 46 in the docking position, a mounting space 47 suitable for accommodating the machine body 4 is arranged below the mounting platform 46, and the mounting platform 46 is provided with a mounting opening 48 suitable for the passage of the engine 3 and the transmission assembly 2. It is to be understood herein that "the mounting port 48 is adapted to be passed by the engine 3 and the transmission assembly 2" means that the mounting port 48 is adapted to be passed by the transmission assembly 2 as well as the engine 3 and that one of the transmission assembly 2 and the engine 3 is adapted to be passed by the mounting port 48 at the same time.
Two gesture adjusting devices 50 are arranged on each mounting sub-platform 41, gesture adjusting locking devices 51 are arranged on each gesture adjusting device 50, four switching balls are suitable for being respectively detachably matched in the four gesture adjusting locking devices 51, and the gesture adjusting devices 50 drive the gesture adjusting locking devices 51 in the left-right direction, the front-back direction and the vertical direction.
The automatic guiding vehicle 60 can horizontally move on the base 10 and is suitable for passing through the transportation channel 45, the automatic guiding vehicle 60 is provided with a vehicle-mounted jacking device 61, the vehicle-mounted jacking device 61 is provided with a vehicle-mounted locking device 62, the guiding vehicle ball head is suitable for being detachably matched in the vehicle-mounted locking device 62, and the vehicle-mounted jacking device 61 is suitable for driving the machine body 4 to lift. In particular, the automatic guided vehicle 60 is adapted to pass through the transport path 45 while supporting the fuselage 4.
The base lifting device 70 is movably arranged on the second guide rail 12, the base lifting device 70 is provided with a base locking device 71, the base ball is suitable for being matched in the base locking device 71, and the base lifting device 70 is suitable for driving the machine body 4 to lift.
The measuring device 80 is provided on the base 10 and is adapted to measure the pose of the fuselage 4, the transmission assembly 2 and the engine 3.
The control device is electrically connected with the posture adjusting device 50, the base jacking device 70 and the measuring device 80 respectively.
The operation of the helicopter assembly digital assembly system 1 according to an embodiment of the invention is described below with reference to fig. 13.
As shown in step a of fig. 13, the moving tools 40 move away from each other and to the avoidance position, and the base lifting device 70 is lowered to the lowest level, so as to leave the passage for the fuselage 4 to enter.
As shown in step b of fig. 13, the automatic guided vehicle 60 transports the body 4 into the transport path 45 from the previous step, the body 4 is supported on the support bracket 30, and the support bracket 30 is supported on the vehicle-mounted jacking device 61 of the automatic guided vehicle 60.
As shown in step c of fig. 13, the automatic guided vehicle 60 is positioned by setting a mark point on the ground, and the base jacking device 70 is lifted up, so that the support bracket 30 is supported by the vehicle-mounted jacking device 61 and is supported by the base jacking device 70.
As shown in step d of fig. 13, after the vehicle-mounted jacking device 61 supports the body 4, the vehicle-mounted jacking device 61 descends and separates from the support bracket 30, and the automatic guided vehicle 60 exits the transportation path 45.
As shown in step e of fig. 13, the base lifting device 70 is lowered, and the moving tool 40 is moved to the docking position.
As shown in step f in fig. 13, the adapting tool 20 for installing the transmission assembly 2 is hoisted above the installation opening 48, so that the adapting ball head is matched in the gesture adjusting locking device 51, and the gesture adjusting locking device 51 is operated to switch to the anti-drop state.
As shown in step g-i in fig. 13, the measuring device 80 measures the postures of the machine body 4 and the transmission assembly 2, and feeds back the measured data to the control device, the control device plans the docking track of the transmission assembly 2 according to the measured data of the measuring device 80, and the four posture adjusting devices 50 automatically complete the docking work according to the planned path.
As shown in step j of fig. 13, the operator completes the final connection of the transmission assembly 2 to the fuselage 4 at the mounting platform 46 and removes the transfer fixture 20.
As shown in step k of fig. 13, the moving tool 40 is separated to the avoidance position to the both sides, and the body 4 is moved forward by the movement of the base jacking device 70 on the second guide rail 12 by a predetermined distance, which is the distance between the connection position of the engine 3 on the body 4 and the connection position of the transmission assembly 2 on the body 4 in the length direction of the body 4. In other words, the body 4 is moved to a position suitable for mounting the engine 3 by the movement of the base lifting device 70, that is, the mounting port 48 corresponds to the mounting position of the engine 3 in the up-down direction.
As shown in step i of fig. 13, the moving tooling 40 moves inwardly to the docked position.
As shown in step m of fig. 13, in the case of the twin-engine 3 helicopter, considering that the two engines 3 are arranged in the width direction of the fuselage 4, the engines 3 are not positioned in the fuselage 4, and the position of the moving tooling 40 needs to be adjusted so that the mounting port 48 faces the mounting position of one engine 3.
As shown in step n in fig. 13, the adapting tool 20 with the engine 3 mounted thereon is hoisted above the mounting opening 48, so that the adapting ball head is fitted in the posture adjusting locking device 51.
As shown in steps o and p in fig. 13, the engine 3 is adjusted by four attitude adjustment devices 50 according to the track obtained by the detection of the measuring device 80, so as to realize the automatic docking of the engine 3 and the machine body 4.
The steps of installing the engine 3 are repeated once to complete the installation of the other engine 3.
As shown in step q of fig. 13, the moving tooling 40 is separated outwardly.
As shown in step r of fig. 13, the base lifting device 70 is lifted, the automatic guided vehicle 60 is driven into the transport path 45, the base lifting device 70 is lowered, and the body 4 is transferred from the base lifting device 70 to the in-vehicle lifting device 61. The body 4 is separated from the base jacking device 70.
As shown in step s of fig. 13, the automatic guided vehicle 60 transports the body 4 equipped with the transmission assembly 2 and the engine 3 out of the transport path 45, and the entire docking work is completed.
According to the helicopter final assembly digital assembly system 1 provided by the embodiment of the invention, through the arrangement of the switching tool 20, the switching of the gesture adjusting device 50, the transmission assembly 2 and the gesture adjusting device 50 and the engine 3 can be realized by using the switching tool 20, so that the gesture adjusting device 50 can be connected with parts with different shapes and structures through the switching tool 20 in a detachable mode.
Through switching bulb and transfer locking device 51, can not only realize switching frock 20 and transfer device 50's detachable connection, can form the ball pair moreover when connecting, avoid switching frock 20 and transfer device 50's connection restriction transfer device 50 and transfer frock 20's motion, be convenient for realize the more nimble steady position appearance adjustment to transmission assembly 2 and engine 3.
By providing the support bracket 30, the support bracket 30 can be used to support the body 4, so that the base jacking device 70 and the vehicle-mounted jacking device 61 can support and position the body 4 conveniently, and an additional switching structure is avoided being arranged on the body 4.
Through setting up guide car bulb and on-vehicle locking means 62, not only can realize the detachable connection of support bracket 30 and on-vehicle jacking device 61, can form the ball pair when connecting moreover, avoid the motion of support bracket 30 and on-vehicle jacking device 61's the on-vehicle jacking device 61 of connection restriction 61 and support bracket 30, be convenient for realize the pose adjustment to fuselage 4 more nimble steady.
Through setting up base bulb and base jacking device 70, not only can realize the detachable connection of support bracket 30 and base jacking device 70, can form the ball pair moreover when connecting, avoid the motion of support bracket 30 and base jacking device 70's connection restriction base jacking device 70 and support bracket 30, be convenient for realize the pose adjustment to fuselage 4 more nimble steady.
By providing the moving tool 40 and the first guide rail 11, the two moving tools 40 are movably provided on the first guide rail 11 between the avoidance position and the docking position. Thus, before assembly, the two moving tools 40 are moved to the avoiding position so that the automatic guided vehicle 60 can transport the machine body 4 to the transport channel, then the two moving tools 40 are moved to the abutting position, the two mounting sub-platforms 41 are abutted to form a mounting platform 46, a mounting space 47 suitable for accommodating the machine body 4 is arranged below the mounting platform 46, the mounting platform 46 is provided with a mounting opening 48 suitable for the engine 3 and the transmission assembly 2 to pass through, and at the moment, the machine body 4 is in the mounting space 47, and the transmission assembly 2 and the engine 3 can be abutted with the machine body 4 through the mounting opening 48. Thus, the two moving tools 40 after docking can facilitate the cooperative movement of the four pose adjustment devices 50 on the two moving tools 40 on one hand, and an operator can operate on the mounting platform 46 on the other hand, for example, the final mounting step is completed after pose adjustment and docking, the mounting space 47 can facilitate the accommodation of the machine body, and the mounting opening 48 can facilitate the passage of the transmission assembly 2 and the engine 3 for docking with the machine body 4.
By arranging four gesture adjusting devices 50, each gesture adjusting device 50 can drive the gesture adjusting locking device 51 on three degrees of freedom, and the four gesture adjusting devices 50 can drive the switching tool 20 to adjust the gestures on a plurality of degrees of freedom through the connection of the gesture adjusting locking device 51 and the switching ball head, so that the flexibility and the accuracy of gesture adjustment on the transmission assembly 2 and the engine 3 are improved.
By providing the automatic guided vehicle 60, the transportation of the fuselage 4 can be facilitated, for example, the fuselage 4 can be transported from the previous process to the helicopter assembly digital assembly system 1 or from the helicopter assembly digital assembly system 1 to the next process.
By providing the in-vehicle jacking device 61, the in-vehicle jacking device 61 can be used to support the body 4 and drive the body 4 to lift so as to adjust the height of the body 4 on the automatic guided vehicle 60.
By providing the base jacking device 70, the body 4 can be supported by the base jacking device 70 and the body 4 can be driven to rise and fall to adjust the height of the body 4 on the base 10.
By movably providing the base lifting device 70 on the second rail 12, the position adjustment of the body 4 by a short distance in the front-rear direction can be achieved by the movement of the base lifting device 70 on the second rail 12, for example, the body 4 is moved to a position where the engine 3 is mounted after the transmission assembly 2 is mounted.
By providing the measuring device 80, the pose of the body 4, the transmission assembly 2 and the engine 3 can be measured by the measuring device 80, so that the pose adjusting device 50 and the base jacking device 70 can adjust the pose of the body 4, the transmission assembly 2 and the engine 3 according to the measurement result.
By arranging the control device, the control device can be used for realizing the cooperative control of the four attitude adjusting devices 50 and the base jacking device 70, so that the digital control of the helicopter assembly digital assembly system 1 is conveniently realized.
That is, the helicopter assembly digital assembly system 1 can maintain the stability of the engine 3 and the transmission assembly 2 in the posture adjustment process on one hand and can improve the accuracy of the posture adjustment on the other hand and ensure the installation accuracy of the engine 3 and the transmission assembly 2 by adopting the manual posture adjustment and docking mode in the related art through the coordination posture adjustment of the four posture adjustment devices 50.
The helicopter assembly digital assembly system 1 can realize the transportation and positioning of the airframe 4, and the digital control of the gesture adjustment and the butt joint of the transmission assembly 2 and the engine 3, so that compared with manual operation, the helicopter assembly digital assembly system is more time-saving and labor-saving, the operation difficulty is reduced, and the gesture adjustment and the butt joint are realized by utilizing the gesture adjustment device 50, so that the stability and the accuracy can be conveniently ensured.
Therefore, the helicopter assembly digital assembly system 1 provided by the embodiment of the invention has the advantages of good stability, high assembly precision and the like.
A helicopter final assembly digital assembly system 1 according to an embodiment of the invention is described below with reference to the accompanying drawings.
In some embodiments of the present invention, as shown in fig. 1 to 14, a helicopter assembly digital assembly system 1 according to an embodiment of the present invention includes a base 10, an adapter fixture 20, a support bracket 30, two moving fixtures 40, four attitude adjusting devices 50, an automatic guiding vehicle 60, a base jacking device 70, a measuring device 80, and a control device.
Specifically, as shown in fig. 8, each posture adjustment device 50 includes a base 52, a first horizontal moving platform 53, a second horizontal moving platform 54, a vertical moving platform 55, a first horizontal driving device, a second horizontal driving device, and a vertical driving device. The base 52 is mounted on the mounting sub-platform 41. The first horizontal movement platform 53 is provided on the base 52 so as to be movable in the left-right direction. The second horizontal movement stage 54 is provided on the first horizontal movement stage 53 so as to be movable in the front-rear direction. The vertical moving platform 55 is provided on the second horizontal moving platform 54 so as to be movable up and down. The first horizontal driving device is in transmission connection with the first horizontal moving platform 53. The second horizontal driving device is in transmission connection with the second horizontal moving platform 54. The vertical driving device is in transmission connection with the vertical moving platform 55, and the gesture adjusting locking device 51 is arranged on the vertical moving platform 55. In this way, the posture adjustment device 50 can be conveniently driven by the posture adjustment locking device 51 in three degrees of freedom, namely up and down, front and back, left and right, so that the posture adjustment of the switching tool 20 by the four posture adjustment devices 50 is realized.
Specifically, the base 52 may cast a piece of material for the QT300 to ensure accuracy and structural strength, thereby ensuring load bearing capacity and stability.
Advantageously, each attitude adjustment device 50 further comprises a first grating scale, a second grating scale and a vertical grating scale. The first grating scale is electrically connected to the first horizontal driving device and adapted to measure the position of the first horizontal movable platform 53. The second grating scale is electrically connected to the second horizontal driving device and adapted to measure the position of the second horizontal movable platform 54. The vertical grating ruler is electrically connected to the vertical drive and adapted to measure the position of the vertical movement platform 55. This may facilitate accurate control of the gesture adjustment device 50.
More advantageously, the first horizontal driving device is a motor and is in transmission connection with the first horizontal moving platform 53 through a gear rack, the second horizontal driving device is a motor and is in transmission connection with the second horizontal moving platform 54 through a ball screw, and the vertical driving device is a motor and is in transmission connection with the vertical moving platform 55 through a ball screw. Thus, the posture adjusting device 50 can be driven in three degrees of freedom, and the first horizontal driving device can drive the first horizontal moving platform 53 to have the characteristics of unbalanced load resistance, strong heavy load capacity, high motion rigidity and the like, and the posture adjusting device is stable in low-speed motion, free from creeping, strong in shock resistance and high in running speed.
Fig. 9-11 illustrate a helicopter head-up digital assembly system 1 according to some examples of the invention. As shown in fig. 9 to 11, the posture-adjusting locking device 51, the vehicle-mounted locking device 62 and the base locking device 71 are all ball-head positioners 90, and the ball-head positioners 90 include a lock body 91, a lock tongue 93 and a locking driving device 94. The upper surface of the lock body 91 is provided with a ball socket 92 adapted to receive a ball head. The lock tongue 93 is movably provided on the lock body 91 between a release position, a release-preventing position, and a locking position, the lock tongue 93 allows the ball to be separated from the ball socket 92 when in the release position, the lock tongue 93 prevents the ball from being separated from the ball socket 92 and allows the ball to rotate relative to the ball socket 92 when in the release-preventing position, and the lock tongue 93 prevents the ball from being separated from the ball socket 92 and prevents the ball from rotating relative to the ball socket 92 when in the locking position. The locking drive 94 is in driving connection with the bolt 93. It should be understood here that the adapter ball, the guide car ball and the base ball all belong to the balls. This allows the ball positioner 90 to be switched between three states, thereby controlling the mating state of the ball positioner 90 and the ball.
Specifically, the lock drive device 94 may be a handle and may be driven manually, or may be an electric drive device and may be driven electrically.
Advantageously, as shown in FIG. 10, the ball head positioner 90 further includes a three-dimensional force sensor 95 located below the lock body. Thus, the force applied to the ball head positioner 90 can be detected by the three-dimensional force sensor 95, the force applied to the ball head positioner 90 can be fed back to the gesture adjusting device 50, the gesture adjusting device 50 can be controlled conveniently, and the stability and reliability of the gesture adjusting process are further improved.
Fig. 3 and 4 illustrate a helicopter assembly digital assembly system 1 according to some examples of the invention. As shown in fig. 3 and 4, the moving tool 40 further includes a support 42, a stair 43, and a guardrail 44. The bracket 42 is movably provided on the first rail 11, and the mounting sub-platform 41 is provided on the bracket 42. A stair 43 is connected to the support 42 and is adapted for an operator to mount the sub-platform 41. Guard rails 44 are provided at the edges of the mounting sub-platform 41. The brackets 42 may facilitate supporting the mounting sub-platform 41, facilitating forming a mounting space below the mounting platform 46. The stairs 43 facilitate the operator to mount the sub-platform 41 on his or her foot. Guard rail 44 may be used to block the operator from falling off the edge of mounting sub-platform 41.
Specifically, as shown in fig. 3 and 4, the edge of each mounting sub-platform 41 facing the other mounting sub-platform 41 is provided with a mounting notch, and in the abutting position, the two mounting notches jointly define a mounting opening 48. This may facilitate the formation of the mounting opening 48.
Specifically, after the two mounting sub-platforms 41 are docked, four attitude adjusting devices 50 are arranged at intervals around the mounting opening 48. Thus, the four gesture adjusting devices 50 can be conveniently connected with the switching tool 20.
Alternatively, as shown in fig. 2, a plurality of measuring devices 80 are provided, and a plurality of measuring devices 80 are provided on each second rail 12 at intervals. This can facilitate the measurement of the pose of the drive assembly 2, the engine 3 and the fuselage 4 from a plurality of angles.
Specifically, the adapting tool 20 may include a plurality of sub-components, where the plurality of sub-components are detachably connected, so that the adapting tool 20 can be conveniently removed after the transmission assembly 2 and the engine 3 are installed, and the installed transmission assembly 2 and the engine 3 are prevented from interfering with the removal of the adapting tool 20.
The upper surface of the support bracket 30 may be provided with a cushion pad to cushion the contact of the body 4 and the support bracket 30.
The support brackets 30 may be plural and disposed at intervals along the length direction of the body 4, the base jacking device 70 may be plural and adapted to support both ends of each support bracket 30, and the vehicle-mounted jacking device 61 may be plural and adapted to support both ends of each support bracket 30. This can improve the stability of the support of the fuselage 4.
The following describes a control method of the helicopter assembly digital assembly system 1 according to an embodiment of the invention. The control method of the helicopter assembly digital assembly system 1 according to the embodiment of the invention comprises the following steps:
s1, moving the movable tool to the avoiding position, and descending the base jacking device, wherein the automatic guide vehicle conveys the machine body to the conveying channel, the machine body is supported on the support bracket, and the support bracket is supported on the vehicle-mounted jacking device;
s2, the base jacking device ascends to support the support bracket, the vehicle-mounted jacking device descends, the vehicle-mounted locking device is separated from the vehicle-mounted ball head, the automatic guide vehicle drives out of the transportation channel, the base jacking device descends, and the movable tool moves to the butt joint position;
s3, hoisting the transmission assembly connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the machine body and the transmission assembly by the measuring device, planning a docking track of the transmission assembly by the control device according to a detection result of the measuring device, and docking the transmission assembly and the machine body by the four gesture adjusting devices according to the docking track;
S4, after the transmission assembly and the machine body are installed, the transfer tool is removed;
s5, the movable tool moves to the avoiding position, the base jacking device moves in the front-back direction and drives the machine body to move for a preset distance, and the movable tool moves to the abutting position;
s6, adjusting the position of the movable tool in the left-right direction to enable the mounting opening to vertically correspond to the mounting position of one of the two engines on the machine body;
s7, hoisting the engine connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the engine body and the engine by the measuring device, planning a docking track of the engine by the control device according to a detection result of the measuring device, and completing docking of the engine and the engine body by the four gesture adjusting devices according to the docking track;
s8, after the engine and the machine body are installed, the transfer tool is removed;
s9, repeating the steps S6-S8 to finish the installation of the other engine;
s10, the movable tool moves to the avoidance position, the base jacking device ascends, the automatic guide vehicle drives into the transportation channel, the base jacking device descends, the vehicle-mounted jacking device supports the machine body, the base locking device is separated from the base ball head, and the automatic guide vehicle drives out of the transportation channel.
According to the control method of the helicopter final assembly digital assembly system 1, the helicopter final assembly digital assembly system 1 has the advantages of being good in stability, high in assembly accuracy and the like.
Other constructions and operations of the helicopter assembly digital assembly system 1 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A helicopter assembly digital assembly system comprising:
the base is provided with a first guide rail oriented in the left-right direction and a second guide rail oriented in the front-back direction;
the transfer tool is suitable for being detachably connected with a transmission assembly of the helicopter and an engine of the helicopter, and four transfer balls arranged at intervals in the circumferential direction of the transfer tool are arranged on the lower surface of the transfer tool;
the support bracket is suitable for supporting a helicopter body, and a guide vehicle ball head and a base ball head are arranged on the lower surface of the support bracket;
the two moving tools are provided with mounting sub-platforms, the two moving tools are movably arranged on the first guide rail between an avoidance position and a butt joint position, the two moving tools are mutually spaced at the avoidance position, a transport channel suitable for the passage of the machine body is arranged between the two moving tools, the two mounting sub-platforms are in butt joint with each other to form a mounting platform at the butt joint position, a mounting space suitable for accommodating the machine body is arranged below the mounting platform, and the mounting platform is provided with a mounting port suitable for the passage of the engine and the transmission assembly;
The four transfer ball heads are suitable for being respectively detachably matched in the four gesture adjusting locking devices, and the gesture adjusting devices drive the gesture adjusting locking devices in the left-right direction, the front-back direction and the vertical direction;
the automatic guiding vehicle can horizontally move on the base and is suitable for passing through the transportation channel, a vehicle-mounted jacking device is arranged on the automatic guiding vehicle, a vehicle-mounted locking device is arranged on the vehicle-mounted jacking device, a guiding vehicle ball head is suitable for being detachably matched in the vehicle-mounted locking device, and the vehicle-mounted jacking device is suitable for driving the machine body to lift;
the base jacking device is movably arranged on the second guide rail, a base locking device is arranged on the base jacking device, the base ball head is suitable for being matched in the base locking device, and the base jacking device is suitable for driving the machine body to lift;
the measuring device is arranged on the base and is suitable for measuring the pose of the machine body, the transmission assembly and the engine;
And the control device is respectively and electrically connected with the gesture adjusting device, the base jacking device and the measuring device.
2. The helicopter assembly digital assembly system of claim 1, wherein each of said attitude adjustment devices comprises:
the base is arranged on the mounting sub-platform;
the first horizontal moving platform is arranged on the base in a manner of moving along the left-right direction;
the second horizontal moving platform is arranged on the first horizontal moving platform in a manner of being capable of moving along the front-back direction;
the vertical moving platform is arranged on the second horizontal moving platform in a vertically movable manner;
the first horizontal driving device is in transmission connection with the first horizontal moving platform;
the second horizontal driving device is in transmission connection with the second horizontal moving platform;
the vertical driving device is in transmission connection with the vertical movable platform, and the gesture adjusting locking device is arranged on the vertical movable platform.
3. The helicopter assembly digital assembly system of claim 2, wherein each of said attitude adjustment devices further comprises:
The first grating ruler is electrically connected with the first horizontal driving device and is suitable for measuring the position of the first horizontal moving platform;
the second grating ruler is electrically connected with the second horizontal driving device and is suitable for measuring the position of the second horizontal moving platform;
the vertical grating ruler is electrically connected with the vertical driving device and is suitable for measuring the position of the vertical movable platform.
4. The helicopter final assembly digital assembly system of claim 2, wherein the first horizontal driving device is a motor and is in transmission connection with the first horizontal moving platform through a gear rack, the second horizontal driving device is a motor and is in transmission connection with the second horizontal moving platform through a ball screw, and the vertical driving device is a motor and is in transmission connection with the vertical moving platform through a ball screw.
5. The helicopter assembly digital assembly system of claim 1, wherein the attitude adjustment locking device, the vehicle-mounted locking device and the base locking device are all ball head positioners, the ball head positioners comprising:
the lock comprises a lock body, wherein the upper surface of the lock body is provided with a ball socket suitable for accommodating a ball head;
The lock comprises a lock body, a ball socket, a lock tongue, a locking mechanism and a locking mechanism, wherein the lock tongue is movably arranged on the lock body between a release position, an anti-falling position and a locking position, the lock tongue allows the ball head to be separated from the ball socket when in the release position, the lock tongue prevents the ball head from being separated from the ball socket and allows the ball head to rotate relative to the ball socket when in the anti-falling position, and the lock tongue prevents the ball head from being separated from the ball socket and prevents the ball head from rotating relative to the ball socket when in the locking position;
and the locking driving device is in transmission connection with the lock tongue.
6. The helicopter assembly digital assembly system of claim 5 wherein said ball head positioner further comprises a three-dimensional force sensor located below the lock body.
7. The helicopter assembly digital assembly system of claim 1, wherein the mobile tooling further comprises:
the support is movably arranged on the first guide rail, and the mounting sub-platform is arranged on the support;
the stair is connected with the bracket and is suitable for an operator to climb on the mounting sub-platform;
the guardrail is arranged at the edge of the mounting sub-platform.
8. The helicopter assembly digital assembly system of claim 1, wherein an edge of each of said mounting sub-platforms facing the other of said mounting sub-platforms is provided with a mounting notch, both of said mounting notches together defining said mounting opening in said docked position.
9. The helicopter final assembly digital assembly system according to claim 1, wherein a plurality of measuring devices are provided, and a plurality of measuring devices are provided on each of the second guide rails at intervals.
10. A control method of a helicopter assembly digital assembly system according to any of claims 1-9, characterized by the steps of:
s1, moving the movable tool to the avoiding position, and descending the base jacking device, wherein the automatic guide vehicle conveys the machine body to the conveying channel, the machine body is supported on the support bracket, and the support bracket is supported on the vehicle-mounted jacking device;
s2, the base jacking device ascends to support the support bracket, the vehicle-mounted jacking device descends, the vehicle-mounted locking device is separated from the vehicle-mounted ball head, the automatic guide vehicle drives out of the transportation channel, the base jacking device descends, and the movable tool moves to the butt joint position;
S3, hoisting the transmission assembly connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the machine body and the transmission assembly by the measuring device, planning a docking track of the transmission assembly by the control device according to a detection result of the measuring device, and docking the transmission assembly and the machine body by the four gesture adjusting devices according to the docking track;
s4, after the transmission assembly and the machine body are installed, the transfer tool is removed;
s5, the movable tool moves to the avoiding position, the base jacking device moves in the front-back direction and drives the machine body to move for a preset distance, and the movable tool moves to the abutting position;
s6, adjusting the position of the movable tool in the left-right direction to enable the mounting opening to vertically correspond to the mounting position of one of the two engines on the machine body;
s7, hoisting the engine connected with the transfer tool above the mounting port, matching the transfer ball head in the gesture adjusting locking device, measuring the gestures of the engine body and the engine by the measuring device, planning a docking track of the engine by the control device according to a detection result of the measuring device, and completing docking of the engine and the engine body by the four gesture adjusting devices according to the docking track;
S8, after the engine and the machine body are installed, the transfer tool is removed;
s9, repeating the steps S6-S8 to finish the installation of the other engine;
s10, the movable tool moves to the avoidance position, the base jacking device ascends, the automatic guide vehicle drives into the transportation channel, the base jacking device descends, the vehicle-mounted jacking device supports the machine body, the base locking device is separated from the base ball head, and the automatic guide vehicle drives out of the transportation channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311127147.2A CN117184436B (en) | 2023-09-01 | Digital assembly system and control method for helicopter final assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311127147.2A CN117184436B (en) | 2023-09-01 | Digital assembly system and control method for helicopter final assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117184436A true CN117184436A (en) | 2023-12-08 |
| CN117184436B CN117184436B (en) | 2025-12-30 |
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