The invention relates to the technical field of aircraft assembly, and particularly provides an automatic conveying method for aircraft parts in a narrow space. And specifically, accurate and automatic position calibration of component mounting holes and machine body mounting holes is realized by adopting a position calibration method, so that automatic transportation is realized by matching with a two-degree-of-freedom synchronous mechanical gripper. The position calibration method specifically comprises the following steps that laser transmitting and receiving devices are placed in assembly holes of components and assembly holes of a machine body installation support through the laser transmitting and receiving technology, and in the component transportation process, the eight, namely four pairs of laser transmitting and receiving devices conduct position calibration in real time; and the two-degree-of-freedom synchronous mechanical gripper moves according to the calibration result, position alignment is conducted on the X-axis, the Y-axis and the Z-axis, and work is stopped until the four pairs of mounting holes are completely attached. The invention provides a new thought and design, and can effectively solve the difficult problems in narrow space component assembly of the unmanned aerial vehicle.
本发明涉及飞机装配技术领域,具体提供了狭小空间飞机零部件自动传输方法。具体是采用位置校准方法实现部件安装孔与机体安装孔的精准自动化位置校准,从而配合二自由度同步机械抓手实现自动运输。所述的位置校准方法具体如下:利用激光发射接收技术,在部件自身装配孔及机体安装支架装配孔中放置激光发射接收装置,在部件运输过程中,共计8个、即4对的激光发射接收装置实时进行位置校准,二自由度同步机械抓手根据校准结果进行移动,在X轴、Y轴以及Z轴三个维度进行位置对准,直至4对安装孔完全贴合后,停止工作。本发明提供了一种新的思路与设计,可有效解决无人机狭小空间部件装配中的难点问题。
Automatic conveying method for aircraft parts in narrow and small space
狭小空间飞机零部件自动传输方法
2024-02-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B25J Manipulatoren , MANIPULATORS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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