Lifting-type digital positioning fixture and method for assembling aircraft electrical equipment

Abstract

This invention discloses a lifting-type digital positioning fixture and method for assembling aircraft electrical equipment, relating to the field of aircraft assembly technology. The fixture includes a base assembly, a sliding frame assembly, a positioning assembly, and a vision measurement system. The sliding frame assembly and the positioning assembly are slidably connected above the base assembly, and a lifting mechanism for raising and lowering the electrical equipment is provided at the end. The sliding frame assembly is used to send the electrical equipment and the positioning assembly together into the installation position. The positioning assembly is used for fine-tuning the electrical equipment. The vision measurement system is mounted on the positioning assembly and is used to measure the hole position deviation of the mounting holes, calculate the attitude deviation, and provide feedback to control the positioning assembly to fine-tune the electrical equipment. This invention combines rigid and flexible fixtures, allowing for rapid reconfiguration and adjustment of the positioner to adapt to different product shapes. It can complete the assembly of similar structural products on different aircraft, significantly shortening the aircraft assembly cycle.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly technology, and in particular to a lifting-type digital positioning fixture and method for assembling aircraft electrical equipment. Background Technology

[0002] Aircraft assembly technology has continuously advanced, with assembly methods evolving from traditional manual and semi-automated assembly to automated, flexible, and digital assembly. The docking assembly of components plays a crucial role in the aircraft assembly process. Traditional docking methods are inefficient, costly, and difficult to guarantee docking quality. Adopting automated flexible docking technology can effectively reduce docking errors of large components, improve docking efficiency, and ensure quality.

[0003] Aircraft manufacturers such as Boeing and Airbus have applied automated docking technology for large components in their final assembly processes. On the Boeing 787 assembly line, an automated fuselage positioning system and two automated wing attitude adjustment systems are used to position the front and rear fuselage sections and the left and right wings. Airbus's A380 aircraft also employs automated flexible docking technology during the assembly of its fuselage sections. Domestically, with the increasing number of newly developed aircraft, automated tooling, flexible assembly tooling, and flexible docking tooling have also developed rapidly. Major aircraft manufacturers in the aviation industry have adopted digital measurement and CNC positioning technologies in the assembly and docking of fuselage components, achieving digital positioning, attitude adjustment, and automated flexible docking of aircraft components. Although significant progress has been made in the research of automated flexible docking technology for large aircraft components both domestically and internationally, especially in the mating technology for large components with interlocking connections, its application in the flexible docking of high-precision components with fork-and-hole pin connections is still extremely limited. For the docking and installation of power distribution equipment and fuselage frame, the assembly relationship is three sets of fork lug pin connections. The main problem is that the aircraft design space is small, and the measurement and installation operations are extremely difficult, which greatly increases the difficulty of installing power distribution equipment and fuselage frame. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a lifting-type digital positioning fixture and method for assembling aircraft electrical equipment. This positioning fixture solves the problems of inconvenient manual operation, low safety, and low efficiency during the assembly of electrical equipment. The fixture is easy and quick to adjust, enabling fine-tuning of the five degrees of freedom of the installed equipment. It provides reliable and safe locking, a high degree of automation, and significantly reduces the burden on workers.

[0005] The specific technical solution adopted in this invention is as follows:

[0006] In a first aspect, the present invention provides a lifting-type digital positioning fixture for assembling aircraft electrical equipment, comprising a base assembly, a sliding frame assembly, a positioning assembly, and a vision measurement system; the base assembly is used to be placed on the aircraft cargo hold floor, with the sliding frame assembly and the positioning assembly slidably connected above it, and a lifting mechanism for raising and lowering the electrical equipment is provided at its end; the sliding frame assembly is used to send the electrical equipment and the positioning assembly together into the installation position above it; the positioning assembly is used to perform fine-tuning control on the electrical equipment to align the electrical equipment with the mounting holes of the fuselage frame; the vision measurement system is mounted on the positioning assembly to measure the hole position deviation of the mounting holes, calculate the attitude adjustment deviation, and provide feedback control to the positioning assembly to fine-tune the electrical equipment.

[0007] Preferably, the base assembly includes a base track and a lifting mechanism. The ends of the two base tracks, arranged parallel to each other along the X-axis, are respectively equipped with lifting mechanisms. Each lifting mechanism includes a lifting bracket, a ball screw, a linear rolling guide, a first servo motor, a first synchronous belt, a base, and a slider. The first servo motor and the base are both fixed to the base track. One end of the first synchronous belt is connected to the output shaft of the first servo motor, and the other end is connected to the ball screw. The ball screw is mounted on the base and can rotate. The ball screw is threadedly connected to the lifting bracket, and the lifting bracket is slidably connected to the linear rolling guide mounted on the base via the slider. The linear rolling guide is vertically arranged, allowing the lifting bracket to drive the positioning component and the power distribution equipment to move up and down along the Y-axis under the drive of the first servo motor.

[0008] Preferably, the sliding frame assembly includes a sliding frame, an operating handle, and a first roller assembly; the bottom of the sliding frame is equipped with a first roller assembly that can slide on the base assembly, and a vertical operating handle is fixed on one side of the front end; the sliding frame can extend between the positioning assembly and the base assembly, and the operating handle drives the positioning assembly to slide towards the rear.

[0009] Preferably, the positioning assembly includes a lower positioning plate, a sliding positioning plate, a second roller group, a first fine-tuning mechanism, a second fine-tuning mechanism, and a third fine-tuning mechanism; the bottom of the lower positioning plate is slidably connected to the base assembly via the second roller group, and the upper part is provided with a sliding positioning plate, which can move on the lower positioning plate along the X1 axis, Y axis, and X2 axis directions through the first fine-tuning mechanism, the second fine-tuning mechanism, and the third fine-tuning mechanism, respectively.

[0010] Furthermore, the first, second, and third fine-tuning mechanisms are located on the back of the lower positioning plate.

[0011] Furthermore, the first and second fine-tuning mechanisms have the same structure, both including a second servo motor, a first lead screw nut, a second synchronous belt, a first base, and a first actuating positioning block; the second servo motor is mounted on the lower positioning plate via the first base; one end of the second synchronous belt is driven to the output shaft of the second servo motor, and the other end is driven to the first lead screw nut; the first lead screw nut is threadedly connected to the first actuating positioning block, which can be moved along the slot on the first base by the second servo motor; the slot of the first base of the first fine-tuning mechanism is opened along the X1 axis, and the slot of the first base of the second fine-tuning mechanism is opened along the Y axis.

[0012] Furthermore, the third fine-tuning mechanism includes a third servo motor, a second lead screw nut, a second actuating positioning block, a second base, and a coupling; the third servo motor is mounted on the lower positioning plate via the second base, and its output shaft is connected to the second lead screw nut via the coupling, and the second lead screw nut is threadedly connected to the second actuating positioning block; the third servo motor enables the second actuating positioning block to move through a slot opened on the second base, and the slot is opened along the X2 axis direction.

[0013] Preferably, the visual measurement system includes a smart camera, a measurement module, and a feedback control module; several smart cameras are mounted on the positioning component, and each camera corresponds to a mounting hole on the frame; the measurement module receives signals collected by the smart cameras and measures the hole position deviation using computer vision measurement; the feedback control module controls the positioning component to fine-tune the power distribution equipment to align with the mounting holes based on the hole position deviation results obtained by the measurement module.

[0014] Preferably, the power distribution equipment has three protruding fork-shaped connectors at the bottom, and the three fork-shaped connectors can be fixed to three connector brackets set on the aircraft fuselage frame by bolts.

[0015] Secondly, the present invention provides a method for assembling aircraft electrical equipment using any of the lifting-type digital positioning fixtures described in the first aspect, as follows:

[0016] S1: Secure the base assembly to the aircraft's cargo hold floor and fuselage frame; adjust the position of the smart camera in the vision measurement system so that it aligns with the mounting holes.

[0017] S2: Move both the sliding frame assembly and the positioning assembly to the front end of the base assembly, and place the power distribution equipment on the positioning assembly; move the positioning assembly and the power distribution equipment together along the base assembly to above the aircraft mounting hole using the sliding frame assembly, lift the positioning assembly and the power distribution equipment upward using the lifting mechanism, and then pull the sliding frame assembly out from below the positioning assembly;

[0018] S3: The hole position deviation is identified through a vision measurement system, and the attitude deviation is calculated based on this deviation value. This information is then fed back to the positioning component for fine-tuning of the power distribution equipment, as detailed below:

[0019] The power distribution equipment is placed on a sliding positioning plate. The sliding positioning plate is positioned along the X1 axis on the lower positioning plate by a first fine-tuning mechanism, along the X2 axis on the lower positioning plate by a third fine-tuning mechanism, along the Y axis on the lower positioning plate by a second fine-tuning mechanism, and along the Z1 and Z2 axes by two lifting mechanisms respectively. The sliding positioning plate can be rotated around the X axis (i.e., direction A) by the cooperation of the two lifting mechanisms in the Z1 and Z2 axes, and rotated around the Z axis (i.e., direction C) by the cooperation of the first and third fine-tuning mechanisms in the X1 and X2 axes.

[0020] S4: After fine-tuning the power distribution equipment, align the fork lug connector at the bottom of the power distribution equipment with the mounting hole of the connector bracket; use the lifting mechanism to move the positioning component and the power distribution equipment downwards so that the fork lug connector coincides with the hole of the connector bracket, assemble and connect it with bolts, and then remove the positioning component.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] 1) The device of the present invention can realize five-axis linkage, wherein the X, Y, Z, A and C directions are all digitally controlled with high precision, and the positioning accuracy is high; 2) It can quickly realize the measurement of hole position deviation, automatically complete the attitude adjustment of power distribution equipment, with a high degree of automation, high production efficiency and safety, reduce fastener damage, and reduce the burden on workers; 3) The tooling adopts a combination of rigid tooling and flexible tooling, which can quickly reconfigure and adjust the positioner to adapt to different product shapes, and can complete the assembly of similar structural products of different aircraft, saving many professional tooling and significantly shortening the aircraft assembly cycle. Attached Figure Description

[0023] Figure 1 This is a schematic diagram showing the completed installation of the aircraft's electrical equipment;

[0024] Figure 2 It is an isometric drawing of a lifting-type digital positioning fixture;

[0025] Figure 3 This is an isometric drawing of the support-type digital positioning tooling base assembly;

[0026] Figure 4 It is an isometric drawing of a lifting mechanism for digital positioning tooling;

[0027] Figure 5 This is an isometric drawing of the sliding frame assembly of the lifting-type digital positioning tooling;

[0028] Figure 6 This is an isometric view of the front of the positioning component of the lifting-type digital positioning tooling;

[0029] Figure 7 It is an isometric view of the reverse side of the positioning component of the lifting digital positioning fixture;

[0030] Figure 8 This is an isometric view of the first and second fine-tuning mechanisms in the lifting-type digital positioning fixture;

[0031] Figure 9 This is an isometric drawing of the third fine-tuning mechanism in a lifting-type digital positioning fixture;

[0032] Figure 10 It is an isometric drawing of a lifting-type digital positioning tooling vision measurement system.

[0033] The attached figures are labeled as follows: 1. Base assembly; 2. Sliding frame assembly; 3. Positioning assembly; 4. Vision measurement system; 5. Base track; 6. Lifting mechanism; 7. Lifting bracket; 8. Ball screw; 9. Linear rolling guide rail; 10. First servo motor; 11. First synchronous belt; 12. Base; 13. Sliding block; 14. Sliding frame; 15. Operating handle; 16. First roller group; 17. Lower positioning plate; 18. Sliding positioning plate; 19. Second roller group; 201. First fine-tuning mechanism; 202. Second fine-tuning mechanism; 3. Fine-tuning machine. Components 21, second servo motor 221, third servo motor 222, second synchronous belt 23, first base 24, first lead screw nut 251, second lead screw nut 252, first actuating positioning block 261, second actuating positioning block 262, second base 27, coupling 28, intelligent camera 29, power distribution equipment 100, aircraft fuselage 101, fuselage floor frame 102, cargo hold floor 103, fuselage frame 104, fuselage ventilation frame 105, connector bracket 106, fork lug connector 107. Detailed Implementation

[0034] The present invention will be further described and illustrated below with reference to the accompanying drawings and specific embodiments. The technical features of each embodiment of the present invention can be combined accordingly, provided that there is no mutual conflict.

[0035] It should be noted that, unless otherwise specified, the X, Y, and Z axis directions described in this invention refer to... Figure 2 The directions are shown. Among them, X1 and X2 are both along the X-axis and are parallel; Z1 and Z2 are both along the Z-axis and are parallel.

[0036] like Figure 2As shown, this invention provides a lifting-type digital positioning fixture for assembling aircraft electrical equipment. This fixture mainly includes a base assembly 1, a sliding frame assembly 2, a positioning assembly 3, and a vision measurement system 4. The base assembly 1 can be placed on the aircraft cargo hold floor 103 for lifting and lowering the electrical equipment. The sliding frame assembly 2 and the positioning assembly 3 are slidably connected above the base assembly 1, and a lifting mechanism 6 for lifting and lowering the electrical equipment 100 is provided at its end. The sliding frame assembly 2 is used to send the electrical equipment 100 and the positioning assembly 3 together into the installation position. The positioning assembly 3 is used for fine-tuning the electrical equipment 100 to align it with the mounting holes of the fuselage frame 104. The vision measurement system 4 is mounted on the positioning assembly 3 and is used to measure the hole position deviation, calculate the attitude adjustment deviation, and provide feedback control to the positioning assembly 3 to fine-tune the electrical equipment 100.

[0037] like Figure 3 As shown, the base assembly 1 mainly includes a base track 5 and a lifting mechanism 6. Two base tracks 5 are arranged parallel to each other along the X-axis, and each end of the track is equipped with a lifting mechanism 6. The lifting mechanism 6 is located below the base track 5, and the two base tracks 5 are fixedly connected axially by multiple support members, with a certain gap between adjacent support members.

[0038] like Figure 4 As shown, the lifting mechanism 6 mainly includes a lifting bracket 7, a ball screw 8, a linear rolling guide rail 9, a first servo motor 10, a first synchronous belt 11, a base 12, and a slider 13. The first servo motor 10 and the base 12 are both fixed to the base track 5. One end of the first synchronous belt 11 is connected to the output shaft of the first servo motor 10, and the other end is connected to the ball screw 8. The first servo motor 10 can drive the ball screw 8 to rotate synchronously through the first synchronous belt 11. The ball screw 8 is mounted on the base 12 and can rotate without interference between them. The ball screw 8 is threadedly connected to the lifting bracket 7, and the slider 13 is fixed on the lifting bracket 7. The base 12 is provided with a vertically arranged linear rolling guide rail 9, and the slider 13 is interactively connected to the linear rolling guide rail 9. Driven by the first servo motor 10, the lifting bracket 7 can drive the positioning component 3 and the power distribution equipment 100 to move up and down along the Y-axis.

[0039] like Figure 5 As shown, the sliding frame assembly 2 mainly includes a sliding frame 14, an operating handle 15, and a first roller assembly 16. The first roller assembly 16 is mounted on the bottom of the sliding frame 14 and is slidably connected to the base track 5 of the base assembly 1, allowing the sliding frame 14 to slide axially along the base track 5. A vertical operating handle 15 is fixed to one side of the front end of the sliding frame 14. The sliding frame 14 can extend between the positioning assembly 3 and the base assembly 1, and the operating handle 15 can drive the positioning assembly 3 to slide towards the rear.

[0040] like Figure 6 and 7 As shown, the positioning assembly 3 mainly includes a lower positioning plate 17, a sliding positioning plate 18, a second roller group 19, a first fine-tuning mechanism 201, a second fine-tuning mechanism 202, and a third fine-tuning mechanism 21. The lower positioning plate 17 has a second roller group 19 at its bottom, which is slidably connected to the base assembly 1, allowing the lower positioning plate 17 to slide axially along the base track 5 of the base assembly 1. A sliding positioning plate 18 is located above the lower positioning plate 17, and the sliding positioning plate 18 can move on the lower positioning plate 17 via the first fine-tuning mechanism 201, the second fine-tuning mechanism 202, and the third fine-tuning mechanism 21. Specifically, the first fine-tuning mechanism 201 is used to move the sliding positioning plate 18 along the X1 axis, the second fine-tuning mechanism 202 is used to move the sliding positioning plate 18 along the Y axis, and the third fine-tuning mechanism 21 is used to move the sliding positioning plate 18 along the X2 axis.

[0041] The first fine-tuning mechanism 201, the second fine-tuning mechanism 202, and the third fine-tuning mechanism 21 can all be located on the back of the lower positioning plate 17 to achieve maximum structural optimization.

[0042] like Figure 8 As shown, the first fine-tuning mechanism 201 and the second fine-tuning mechanism 202 have the same structure, both including a second servo motor 221, a first lead screw nut 251, a second synchronous belt 23, a first base 24, and a first actuating positioning block 261. Specifically, the second servo motor 221 is provided on one side of the first base 24, and the second synchronous belt 23 is provided on the other side. The first lead screw nut 251 and the first actuating positioning block 261 are located inside the base 24. The second servo motor 221 is mounted on the lower positioning plate 17 through the first base 24. One end of the second synchronous belt 23 is connected to the output shaft of the second servo motor 221, and the other end is connected to the first lead screw nut 251. The second servo motor 221 can synchronously drive the first lead screw nut 251 to rotate through the second synchronous belt 23. The first lead screw nut 251 is threadedly connected to the first actuating positioning block 261. A long slot is formed on the first base 24, and part of the first actuating positioning block 261 is located within this slot. The first actuating positioning block 261 can move along the slot on the first base 24 via the second servo motor 221. The slot on the first base 24 of the first fine-tuning mechanism 201 is oriented along the X1 axis, and the slot on the first base 24 of the second fine-tuning mechanism 202 is oriented along the Y axis.

[0043] In practical use, the second servo motor 221 drives the first actuating positioning block 26 through the second synchronous belt 23 and the first lead screw nut 251, causing the first actuating positioning block 26 to move along the slot on the first base 24. The first fine-tuning mechanism 201 and the second fine-tuning mechanism 202 can be driven independently and digitally controlled to achieve precise positioning.

[0044] like Figure 9 As shown, the third fine-tuning mechanism 21 mainly includes a third servo motor 222, a second lead screw nut 252, a second actuating positioning block 262, a second base 27, and a coupling 28. The third servo motor 222 is externally mounted on the second base 27, while the second lead screw nut 252, the second actuating positioning block 262, and the coupling 28 are internally mounted on the second base 27. The third servo motor 222 is mounted on the lower positioning plate 17 via the second base 27, and its output shaft is connected to the second lead screw nut 252 via the coupling 28. The second lead screw nut 252 is threadedly connected to the second actuating positioning block 262. The third servo motor 222 enables the second actuating positioning block 262 to move through a slot opened on the second base 27, which is located along the X2 axis.

[0045] In actual use, the third servo motor 222 drives the second actuating positioning block 262 through the coupling 28 and the second lead screw nut 252, causing the second actuating positioning block 262 to move along the slot on the second base 27. The third fine-tuning mechanism 21 adopts digital control to achieve precise positioning.

[0046] like Figure 10 As shown, the visual measurement system 4 mainly includes intelligent cameras 29, a measurement module, and a feedback control module. Several intelligent cameras 29 are mounted on the positioning component 3, with each camera corresponding to a mounting hole on the body frame 104. The measurement module receives signals collected by the intelligent cameras 29 and measures the hole position deviation using computer vision measurement. The feedback control module controls the positioning component 3 to fine-tune the power distribution equipment 100 to align with the mounting holes based on the hole position deviation results obtained by the measurement module. In this embodiment, three intelligent cameras 29 are distributed on the side of the positioning component 3, and the cameras of the three intelligent cameras 29 are respectively aligned with the three mounting holes of the connector bracket 106 on the body frame 104.

[0047] The specific working principle of this invention is as follows:

[0048] The lifting-type digital positioning fixture of this invention is a five-degree-of-freedom mechanical fine-tuning structure, mainly composed of three degrees of freedom of movement along the X, Y, and Z axes, and rotational degrees of freedom around the X-axis (A-axis) and Z-axis (C-axis). The outer first fine-tuning mechanism realizes movement along the X1 axis, and the third fine-tuning mechanism realizes movement along the X2 axis; the inner second fine-tuning mechanism realizes movement along the Y-axis; and two lifting mechanisms realize movement along the Z1 and Z2 axes, respectively. Rotation around the X-axis (A-axis) can be achieved by the cooperation of the Z1 and Z2 axes, resulting in stable and accurate positioning. Rotation around the Z-axis (C-axis) can be achieved by the cooperation of the X1 and X2 axes, resulting in stable and accurate positioning. The first, second, and third fine-tuning mechanisms, along with the lifting mechanisms, constitute the five-degree-of-freedom attitude adjustment and positioning execution mechanism for the power distribution equipment. This mechanism employs digital high-precision control to ensure accurate and stable positioning of the parts, providing automated operation and meeting the requirements for installing power distribution equipment in confined spaces.

[0049] All fine-tuning mechanisms utilize ball screw guides, offering strong load capacity, accurate positioning, controllable speed, high reliability, and excellent self-locking performance. The drive motors are servo motors, ensuring high control precision and ease of operation. Bolt hole position visual recognition is achieved through a vision measurement system, which includes a smart camera and corresponding measurement software. Computer vision measurement is used to determine hole position deviations, and the control software adjusts the electrical equipment's orientation via a five-degree-of-freedom attitude adjustment mechanism to correct these deviations.

[0050] This invention provides an assembly method for aircraft electrical equipment using the aforementioned lifting-type digital positioning fixture, as detailed below:

[0051] S1: Secure the base assembly 1 to the cargo hold floor 103 and fuselage frame 104 of the aircraft. Adjust the position of the smart camera 29 in the visual measurement system 4 so that it is aligned with the mounting holes, that is, calibrate the installation position and orientation of the smart camera before measurement.

[0052] S2: By manual operation, both the sliding frame assembly 2 and the positioning assembly 3 are moved to the front end of the base assembly 1, and the power distribution equipment 100 is placed on the positioning assembly 3. The operating handle 15 of the sliding frame assembly 2 is pushed, moving the positioning assembly 3 and the power distribution equipment 100 together along the base assembly 1 to above the aircraft mounting hole. The positioning assembly 3 and the power distribution equipment 100 are lifted upwards by the lifting mechanism 6, and then the sliding frame assembly 2 is pulled out from under the positioning assembly 3.

[0053] S3: The hole position deviation is identified by the vision measurement system 4, and the posture deviation is calculated based on the deviation value. This information is then fed back to the positioning component 3 for fine-tuning of the power distribution equipment 100. The power distribution equipment 100 is placed on the sliding positioning plate 18. Driven by a servo motor, the power distribution equipment moves in the X direction, translates in the Y direction, and rotates around the X-axis (i.e., the A-axis) with the cooperation of the Z1 and Z2 axes, and rotates around the Z-axis (i.e., the C-axis) with the cooperation of the X1 and X2 axes. Specifically:

[0054] The sliding positioning plate 18 is positioned along the X1 axis on the lower positioning plate 17 by the first fine-tuning mechanism 201, and along the X2 axis on the lower positioning plate 17 by the third fine-tuning mechanism 21. The sliding positioning plate 18 is positioned along the Y axis on the lower positioning plate 17 by the second fine-tuning mechanism 202. The sliding positioning plate 18 is positioned along the Z1 axis and Z2 axis by the two lifting mechanisms 6 respectively. The sliding positioning plate 18 is rotated around the X axis by the cooperation of the two lifting mechanisms 6 in the Z1 axis and Z2 axis directions. The sliding positioning plate 18 is rotated around the Z axis by the cooperation of the first fine-tuning mechanism 201 and the third fine-tuning mechanism 21 in the X1 axis and X2 axis directions.

[0055] S4: After fine-tuning the power distribution equipment 100, align the fork-ear connector 107 at the bottom of the power distribution equipment 100 with the mounting hole of the connector bracket 106. The lifting mechanism 6 drives the positioning component 3 and the power distribution equipment 100 to move downwards, so that the fork-ear connector 107 coincides with the hole of the connector bracket 106. The connection is then made by bolt assembly. Afterwards, the positioning component 3 is removed to complete the positioning and assembly of the power distribution equipment.

[0056] like Figure 1 The diagram shows the completed installation of the aircraft's electrical equipment. The fuselage floor frame 102 is fixed in the aircraft fuselage 101. The electrical equipment 100 is installed between the cargo hold floor 103 and the fuselage ventilation frame 105. The three fork-shaped connectors 107 at the bottom of the electrical equipment 100 are fixed to the three connector brackets 106 on the fuselage frame 104 by bolts.

[0057] This invention overcomes the challenges of limited space in aircraft design and the extreme difficulties in measurement and installation, enabling flexible docking of components with high-precision fork-ear pin connections. The attitude adjustment system employs digital high-precision control to achieve five-axis linkage, resulting in high positioning accuracy, high automation, high production efficiency and safety, reduced fastener damage, and reduced worker workload. The tooling combines rigid and flexible fixtures, allowing for rapid reconfiguration and adjustment of the positioner to adapt to different product shapes. It can assemble similar structural products from different aircraft, significantly shortening the aircraft assembly cycle.

[0058] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, all technical solutions obtained through equivalent substitution or transformation fall within the protection scope of the present invention.

Claims

1. A method for assembling aircraft electrical equipment using a lifting-type digital positioning fixture for assembling aircraft electrical equipment, characterized in that, The lifting-type digital positioning fixture for assembling aircraft electrical equipment includes a base assembly (1), a sliding frame assembly (2), a positioning assembly (3), and a vision measurement system (4). The base assembly (1) is placed on the aircraft cargo hold floor (103), with the sliding frame assembly (2) and the positioning assembly (3) slidably connected above it, and a lifting mechanism (6) for lifting the electrical equipment (100) is provided at the end. The sliding frame assembly (2) is used to send the electrical equipment (100) and the positioning assembly (3) together into the installation position. The positioning assembly (3) is used to fine-tune the electrical equipment (100) so that the electrical equipment (100) is aligned with the mounting holes of the fuselage frame (104). The vision measurement system (4) is installed on the positioning assembly (3) and is used to measure the hole position deviation of the mounting holes, calculate the attitude deviation, and provide feedback to control the positioning assembly (3) to fine-tune the electrical equipment (100). The positioning component (3) includes a lower positioning plate (17), a sliding positioning plate (18), a second roller group (19), a first fine-tuning mechanism (201), a second fine-tuning mechanism (202), and a third fine-tuning mechanism (21). The bottom of the lower positioning plate (17) is slidably connected to the base component (1) through the second roller group (19), and the upper part is provided with a sliding positioning plate (18). The sliding positioning plate (18) can move along the X1 axis, Y axis, and X2 axis on the lower positioning plate (17) through the first fine-tuning mechanism (201), the second fine-tuning mechanism (202), and the third fine-tuning mechanism (21), respectively. The method is as follows: S1: Fix the base assembly (1) to the cargo hold floor (103) and fuselage frame (104) of the aircraft; adjust the position of the smart camera (29) in the vision measurement system (4) so ​​that it is aligned with the mounting holes respectively; S2: Move both the sliding frame assembly (2) and the positioning assembly (3) to the front end of the base assembly (1), and place the power distribution equipment (100) on the positioning assembly (3); move the positioning assembly (3) and the power distribution equipment (100) together along the base assembly (1) to above the aircraft mounting hole position through the sliding frame assembly (2), and lift the positioning assembly (3) and the power distribution equipment (100) upward through the lifting mechanism (6), and then pull out the sliding frame assembly (2) from below the positioning assembly (3); S3: The hole position deviation is identified by the visual measurement system (4), and the attitude deviation is calculated based on the deviation value. The result is fed back to the positioning component (3) to fine-tune the power distribution equipment (100), as follows: The power distribution equipment (100) is placed on a sliding positioning plate (18). The first fine-tuning mechanism (201) enables the sliding positioning plate (18) to be positioned along the X1 axis on the lower positioning plate (17). The third fine-tuning mechanism (21) enables the sliding positioning plate (18) to be positioned along the X2 axis on the lower positioning plate (17). The second fine-tuning mechanism (202) enables the sliding positioning plate (18) to be positioned on the lower positioning plate (17). The attitude adjustment and positioning along the Y-axis direction is achieved by two lifting mechanisms (6) respectively, which realize the attitude adjustment and positioning of the sliding positioning plate (18) along the Z1 axis and Z2 axis direction. The sliding positioning plate (18) is rotated around the X-axis by the cooperation of the two lifting mechanisms (6) in the Z1 axis and Z2 axis direction. The sliding positioning plate (18) is rotated around the Z-axis by the cooperation of the first fine adjustment mechanism (201) and the third fine adjustment mechanism (21) in the X1 axis and X2 axis direction. S4: After fine-tuning the power distribution equipment (100), align the fork lug connector (107) at the bottom of the power distribution equipment (100) with the mounting hole of the connector bracket (106); drive the positioning component (3) and the power distribution equipment (100) downward through the lifting mechanism (6) so that the fork lug connector (107) coincides with the hole of the connector bracket (106), assemble and connect with bolts, and then remove the positioning component (3).

2. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The base assembly (1) includes a base track (5) and a lifting mechanism (6). The two base tracks (5) arranged parallel to each other along the X-axis are respectively equipped with lifting mechanisms (6) at their ends. The lifting mechanism (6) includes a lifting bracket (7), a ball screw (8), a linear rolling guide rail (9), a first servo motor (10), a first synchronous belt (11), a base (12), and a slider (13). The first servo motor (10) and the base (12) are both fixed to the base track (5). One end of the first synchronous belt (11) is connected to the first servo motor (12). The output shaft of 0 is connected to the drive, and the other end is connected to the ball screw (8). The ball screw (8) is installed on the base (12) and can rotate. The ball screw (8) is threadedly connected to the lifting bracket (7). The lifting bracket (7) is slidably connected to the linear rolling guide (9) installed on the base (12) through the slider (13). The linear rolling guide (9) is vertically set so that the lifting bracket (7) can drive the positioning component (3) and the power distribution equipment (100) to move up and down along the Z-axis together under the drive of the first servo motor (10).

3. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The sliding frame assembly (2) includes a sliding frame (14), an operating handle (15), and a first roller group (16); the bottom of the sliding frame (14) is equipped with a first roller group (16) that can slide on the base assembly (1), and a vertical operating handle (15) is fixed on one side of the front end; the sliding frame (14) can extend between the positioning assembly (3) and the base assembly (1), and the positioning assembly (3) is driven to slide towards the rear by the operating handle (15).

4. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The first fine-tuning mechanism (201), the second fine-tuning mechanism (202) and the third fine-tuning mechanism (21) are located on the back of the lower positioning plate (17).

5. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The first fine-tuning mechanism (201) and the second fine-tuning mechanism (202) have the same structure, both including a second servo motor (221), a first lead screw nut (251), a second synchronous belt (23), a first base (24), and a first actuating positioning block (261); the second servo motor (221) is mounted on the lower positioning plate (17) through the first base (24); one end of the second synchronous belt (23) is connected to the output shaft of the second servo motor (221) and the other end is connected to the first lead screw nut (251); the first lead screw nut (251) is threadedly connected to the first actuating positioning block (261), and the first actuating positioning block (261) can be moved along the slot on the first base (24) by the second servo motor (221); the slot of the first base (24) of the first fine-tuning mechanism (201) is opened along the X1 axis, and the slot of the first base (24) of the second fine-tuning mechanism (202) is opened along the Y axis.

6. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The third fine-tuning mechanism (21) includes a third servo motor (222), a second lead screw nut (252), a second actuating positioning block (262), a second base (27), and a coupling (28). The third servo motor (222) is mounted on the lower positioning plate (17) via the second base (27), and its output shaft is connected to the second lead screw nut (252) via the coupling (28). The second lead screw nut (252) is threadedly connected to the second actuating positioning block (262). The third servo motor (222) enables the second actuating positioning block (262) to move in the slot opened on the second base (27), and the slot is opened along the X2 axis.

7. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The visual measurement system (4) includes a smart camera (29), a measurement module, and a feedback control module; several smart cameras (29) are installed on the positioning component (3), and each camera corresponds to a mounting hole in the frame (104); the measurement module is used to receive signals collected by the smart camera (29) and measure the hole position deviation by computer vision measurement method; the feedback control module is used to control the positioning component (3) to fine-tune the power distribution equipment (100) to align with the mounting hole position according to the hole position deviation result obtained by the measurement module.

8. The aircraft power distribution equipment assembly method as described in claim 1, characterized in that, The power distribution equipment (100) has three protruding fork-shaped connectors (107) at its bottom. The three fork-shaped connectors (107) can be fixed to three connector brackets (106) set on the aircraft fuselage frame (104) by bolts.

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