The invention relates to the field of aircraft large component
assembly, and discloses a large component flexible unloading method and
system based on force value
feedback control, and the flexible unloading method specifically comprises the steps: installing a three-dimensional
force sensor on a
numerical control positioner, calibrating the direction of the sensor, and setting a force value threshold value; after a lifting
rope is installed at the lifting point position of the large component, the lifting
rope is lifted, and the lifting
rope is stressed; determining a descending sequence of Z axes of the positioners according to the
mathematical model of the large component; the Z axis of the positioner is sequentially descended according to the sequence, in the descending process, the force borne by the positioner is monitored, when the force values in the X direction and the Y direction exceed threshold values, the Z axis stops descending, the X axis and the Y axis of the
numerical control positioner are moved through a force
feedback control algorithm, and after the numerical value of the
force sensor reaches a target value, the Z axis of the positioner continues to be descended; and the ball head of the large component is separated from the ball socket of the positioner. The problems of stress pulling,
extrusion and the like generated in the unloading process of the large component are solved, and the risk that the large component and the positioner are damaged is avoided.