Aircraft wing-fuselage assembly control method

Abstract

The present application relates to a kind of aircraft wing fuselage assembly control method, belong to the technical field of aircraft assembly, solve the pose adjustment of wing relative to fuselage in aircraft assembly process, the problems such as difficult accurate centering of assembly connection position, low assembly efficiency.The control method of the present application includes preparation, wing installation assembly is clamped to aircraft wing fuselage assembly auxiliary system, carries component and drives wing installation assembly into assembly position, is equipped with the steps of multiple point position assembly of wing installation assembly by fastening device, is connected with fuselage installation assembly, removes auxiliary tooling, wherein, including industrial control center receives and processes the data collected by sensing component, generates control information to execution element, completes the assembly of wing installation assembly to fuselage installation assembly.The control method of the present application is high in degree of automation, can realize integrated execution element linkage, greatly improves assembly precision and efficiency, and can avoid unreasonable assembly stress of aircraft.The method of the present application is widely used.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly technology, and more specifically to a method for controlling the assembly of aircraft wings and fuselages. Background Technology

[0002] In the later stages of aircraft manufacturing, the assembly process often involves assembling large components simultaneously at multiple locations to ensure proper stress distribution and overall aircraft structural stability. This necessitates the implementation of auxiliary support systems to ensure that multiple assembly points are correctly positioned simultaneously.

[0003] Taking the assembly process of an aircraft wing into its fuselage as an example, an aircraft wing is typically composed of components such as spars, longitudinal walls, stringers, ribs, and skin. The basic load-bearing components of an aircraft wing include the longitudinal (along the wingspan) frame, the transverse (along the airflow direction and perpendicular to the spars) frame, and the skin. The longitudinal frame consists of spars, longitudinal walls, and stringers, while the transverse frame consists of ordinary ribs and reinforced ribs.

[0004] During wing installation, due to the wing's large weight, volume, length span, and asymmetrical lateral shape, the following problems typically arise when assembling the wing into the fuselage:

[0005] (1) It is huge in size, easy to deform, and the deformation is anisotropic;

[0006] (2) The center of mass does not coincide with the center of gravity of the structure, which means that the uniform distribution of support oriented towards the structure and the distribution of support oriented towards the homogeneity of mass cannot be satisfied at the same time.

[0007] (3) The connection force between the wing and the assembly auxiliary unit will cause deformation of the secondary structure of the wing;

[0008] (4) It is difficult to align the assembly interfaces at the same time. Installing each interface separately will cause anisotropic assembly stress in different parts of the aircraft, resulting in structural safety hazards under flight stress.

[0009] The end result was that the shape of the multi-point mounting structure of the wing and fuselage did not match the theoretical value during the assembly process, which made it impossible to quickly and accurately align the wing mounting interface with all the mounting interface positions of the fuselage; at the same time, there was anisotropic assembly stress, which posed a hidden danger to flight safety in the later stage.

[0010] Therefore, how to achieve rapid and accurate consistent assembly of large aircraft components through automatic closed-loop control has become a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0011] Based on the above analysis, the present invention aims to provide an assembly control method for aircraft wings and fuselages to solve the technical problems of inability to quickly align installation positions, low assembly efficiency and accuracy in the assembly process of large aircraft components.

[0012] The specific technical solution is as follows:

[0013] A method for controlling the assembly of an aircraft wing and fuselage, comprising using an aircraft wing and fuselage assembly auxiliary system to assemble and connect wing mounting components to fuselage mounting components; wherein the aircraft wing and fuselage assembly auxiliary system includes a bracket support component, sensing components, an industrial control center, and a carrier component; the bracket support component includes a flexible support component and a bracket component; the sensing components include a position sensing unit, a vision sensing component, and a pressure sensing unit; the aircraft wing and fuselage assembly control method includes the following steps:

[0014] S1. Preparatory work: This includes the preparation of wing mounting components, fuselage mounting components, carrier components, and bracket support components; among which, the visual sensing components are installed on the fuselage mounting components, and the industrial control center processes the data collected by the visual sensors to control the visual guidance power unit.

[0015] S2. Clamp the wing mounting assembly onto the aircraft wing-fuselage assembly auxiliary system: This includes the industrial control center processing data collected by the flexible support position sensor and the flexible support pressure sensor to control the installation and locking of the upper support part of the flexible support assembly; it also includes the industrial control center processing data collected by the flexible support position sensor to provide displacement information to the power unit of the support frame adjustment unit;

[0016] S3. The carrier component drives the wing mounting component into the assembly position: This includes the industrial control center processing the data collected by the carrier unit position sensor and the visual guidance sensor to provide displacement information to the carrier unit power unit.

[0017] S4. Connect the wing mounting assembly and the fuselage mounting assembly at multiple points using fastening devices: This includes the industrial control center activating the vision-guided power unit and providing start / displacement / stop execution information to the push sub-unit on the vision sensing assembly;

[0018] S5. Remove auxiliary tooling and complete the assembly from wing mounting components to fuselage mounting components: This includes the industrial control center starting the power unit of the transport component, the power unit of the hoisting equipment, and the visual guidance power unit, and the transport component driving the bracket support component to detach from the wing mounting component to the docking station.

[0019] Furthermore, the aircraft wing and fuselage assembly auxiliary system also includes a flexible adjustment component; step S2 further includes using data from the flexible adjustment position sensor and the flexible adjustment pressure sensor in the flexible adjustment component to perform anti-deformation adjustment on the wing mounting component.

[0020] Furthermore, the flexible adjustment component includes a flexible adjustment support unit and a flexible adjustment positioning unit.

[0021] Furthermore, the flexible adjustment support unit includes a flexible adjustment support body and a flexible adjustment support flexible layer; the flexible adjustment pressure sensor is disposed between the flexible adjustment support body and the flexible adjustment support flexible layer.

[0022] Furthermore, the flexible adjustment and positioning unit includes a vertical adjustment body, a horizontal adjustment body, and a longitudinal adjustment body, and the flexible adjustment and positioning unit is equipped with a power device for the flexible adjustment and positioning unit; the power device for the flexible adjustment and positioning unit includes a power device for the vertical adjustment body, a power device for the horizontal adjustment body, and a power device for the longitudinal adjustment body.

[0023] Furthermore, the vertical adjustment body power unit, the horizontal adjustment body power unit, and the longitudinal adjustment body power unit are all servo motors.

[0024] Furthermore, the flexible adjustment support flexible layer is a soft fixing structure with an arc-shaped upper surface, made of non-woven fabric and felt.

[0025] Furthermore, the curved upper surface of the flexible adjustment support layer is shaped to correspond to the lower surface of the wing fuselage.

[0026] Furthermore, the flexible adjustment and positioning unit includes a vertical adjustment body, a horizontal adjustment body, and a longitudinal adjustment body.

[0027] Furthermore, the flexible support position sensor in step S2 includes a flexible support position marker and a flexible support visual imaging device.

[0028] Furthermore, the flexible support position sensor is installed on the upper support part of the flexible support assembly; the flexible support pressure sensor is installed on the lower support part of the flexible support assembly.

[0029] Furthermore, the upper support portion includes an upper support body and an upper support flexible layer; the lower support portion includes a lower support body and a lower support flexible layer; the upper support body and the lower support body are rigid arc-shaped support plates, the upper support flexible layer and the lower support flexible layer are arc-shaped clamps, and the lower end face of the lower support body is a plane.

[0030] Furthermore, the curved clamps of the upper and lower flexible support layers are flexible fixing structures made of non-woven fabric and felt. The lateral curvature and longitudinal cross-sectional shape of the curved clamps are designed to match the wing body setting position.

[0031] Furthermore, the flexible support pressure sensor is located on the upper part of the lower support body and contacts the lower part of the flexible layer of the lower support.

[0032] Furthermore, the visual sensing components involved in step S1 include a main visual unit and an auxiliary visual unit, and the main visual unit is equipped with a positioning body pressure sensor.

[0033] Furthermore, the transport component includes a transport unit and a support frame adjustment unit; the transport unit is equipped with a transport unit power unit and a transport unit position sensor; the support frame adjustment unit is equipped with a support frame adjustment power unit.

[0034] Furthermore, the industrial control center includes a database, a position solver, and a safety and logic control solver. The database stores target position design values ​​and pressure rating values. The position solver can process the data collected by the sensing components and compare it with the target position design values ​​in the database to generate displacement information. The safety and logic control solver can process the data collected by the sensing components and compare it with the target position design values / pressure rating values ​​in the database to determine and generate start / stop execution information for each actuator.

[0035] Furthermore, the position solver includes a position calculation program and a displacement calculation program; the calculation results of the position solver can be solved in a coordinated manner, and the displacement calculation program can generate optimized displacement information for each displacement actuator.

[0036] Furthermore, the industrial control center receives data / images collected by the sensing components through the front-end data protocol, and provides displacement information or start / stop command information to each actuator through the back-end data protocol EtherCAT.

[0037] Compared with the prior art, the present invention can achieve at least the following beneficial effects:

[0038] 1. The aircraft wing and fuselage assembly control method provided by the present invention realizes the optimized path step-by-step position adjustment of the assembled parts under reasonable assembly stress through the closed-loop feedback linkage of sensing components, industrial control center and actuators, which greatly improves the assembly accuracy and efficiency of aircraft wings and fuselage, reduces the possibility of destructive structural stress on the assembly structure caused by the deformation of the assembled parts and unreasonable assembly preload, and improves the automation level of the assembly process.

[0039] 2. The aircraft wing and fuselage assembly control method of the present invention adopts flexible shaping support and pressure sensing detection assembly means in the bracket support component, which can realize automatic control of wing deformation during the assembly process, and facilitates the simultaneous alignment of multiple assembly interfaces of the wing and fuselage.

[0040] 3. The aircraft wing and fuselage assembly control method of the present invention uses the assembly ear positioning body and its assembly ear positioning surface and assembly body positioning sub-unit in the vision guidance component to perform omnidirectional positioning of the fuselage installation component. This can ensure the positional stability of the fuselage installation component during the assembly process, ensure the real-time consistency of the image data collected by the vision unit, and facilitate the industrial control center to successfully calculate the correct control commands.

[0041] Other features and advantages of the invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained from what is particularly pointed out in the description and the drawings. Attached Figure Description

[0042] The accompanying drawings are for the purpose of illustrating specific embodiments only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0043] Figure 1 This is a block diagram of the aircraft wing and fuselage assembly process control method of the present invention;

[0044] Figure 2 This is a schematic diagram of the aircraft assembly auxiliary system according to an embodiment of the present invention. Figure 1 ;

[0045] Figure 3 This is a schematic diagram of the aircraft assembly auxiliary system according to an embodiment of the present invention. Figure 2 ;

[0046] Figure 4 This is a schematic diagram of the wing mounting and adjustment components according to an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the bracket support component according to an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the installation structure of the flexible support component and bracket component according to an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram of the flexible support component structure according to an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the flexible adjustment component structure according to an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the wing mounting assembly structure according to an embodiment of the present invention;

[0052] Figure 10 This is a schematic diagram of the fuselage mounting component structure according to an embodiment of the present invention;

[0053] Figure 11 This is a schematic diagram of the wing mounting structure according to an embodiment of the present invention;

[0054] Figure 12 This is a schematic diagram of the installation structure of the visual guidance component, wing mount, and fuselage mount according to an embodiment of the present invention.

[0055] Figure 13 This is a schematic diagram of the visual guidance component structure according to an embodiment of the present invention;

[0056] Figure 14 This is a schematic diagram of the structure of a visually guided docking device according to an embodiment of the present invention. Figure 1 ;

[0057] Figure 15 This is a schematic diagram of the structure of a visually guided docking device according to an embodiment of the present invention. Figure 2 .

[0058] Figure label:

[0059] 1. Wing mounting assembly; 11. Wing mount; 111. Wing mount base; 112. Wing mount lug; 1121. First position identification code; 113. Wing mount lug hole; 12. Wing body; 121. Wing intermediate body; 122. Wing fuselage; 2. Fuselage mounting assembly; 21. Fuselage mount; 211. Fuselage mount base; 212. Fuselage mount lug; 2121. Second position identification code; 213. Fuselage mount lug hole; 22. Fuselage mounting structure; 3. Flexible support assembly; 31. Upper support; 311. Upper support body; 312. Upper support flexible layer; 32. Lower support; 321. Lower support body; 3211. Lower support body connection position; 322. Lower support flexible layer; 33. 34. Support locking unit; 41. Flexible support mounting part; 42. Position sensing unit; 411. Carrier unit position sensor; 412. Flexible support position sensor; 4121. Flexible support position marker; 413. Flexible adjustment position sensor; 42. Vision sensing assembly; 421. Vision support unit; 4211. Support frame; 42111. Pushing sub-unit mounting position; 42112. Guide rail mounting groove; 42113. Auxiliary camera mounting part; 42114. Main light source mounting part; 42115. Auxiliary light source mounting position; 42116. Assembly ear positioning body; 421161. Assembly ear positioning surface; 4212. Guide rail sub-unit; 42121. Movable guide rail; 42122. Fixed guide rail; 4213. Pushing Sub-units; 422. Main vision unit; 4221. Main camera; 4222. Main camera positioning tube; 4223. Main light source sub-unit; 42231. Main light source housing; 42232. Main light source emitter; 42233. Main light source switch; 42234. Main light source fastener; 4224. Assembly positioning sub-unit; 42241. Positioning body mounting part; 42242. Positioning body centering part; 42243. Positioning body main light source light transmission hole; 423. Auxiliary vision unit; 4231. Auxiliary camera; 4232. Auxiliary camera protective housing; 4233. Auxiliary camera light source; 424. Vision power unit; 425. Vision signal transmission unit; 4251. Router; 4252. Antenna; 426. Mounting housing unit 43. Pressure sensing unit; 431. Flexible support pressure sensor; 432. Flexible adjustment pressure sensor; 433. Positioning body pressure sensor; 5. Flexible adjustment assembly; 51. Flexible adjustment support unit; 511. Flexible adjustment support body; 512. Flexible adjustment support flexible layer; 52. Flexible adjustment and positioning unit; 521. Vertical positioning body; 522. Lateral positioning body; 523. Longitudinal positioning body; 6. Bracket assembly; 61. Bracket side support plate; 62. Bracket crossbeam; 63. Bracket mounting unit; 631. Bracket mounting beam; 632. Bracket mounting seat; 64. Bracket connection unit; 641. Bracket connection slot; 7. Industrial control center; 8. Transport assembly; 81. Transport unit; 82. Support frame adjustment unit. Detailed Implementation

[0060] The following is in conjunction with the appendix Figures 1-15 This invention specifically describes the technical solution of the aircraft wing and fuselage assembly control method. The accompanying drawings constitute a part of this invention and, together with the embodiments of this invention, are used to illustrate the principles of this invention, but are not intended to limit the scope of this invention.

[0061] This embodiment is configured as follows:

[0062] (1) The carrier component 8 runs on the ground, with the ground defining the up and down directions;

[0063] (2) The long axis of the bracket assembly 6 is longitudinal and the short axis is transverse.

[0064] Figure 1 The method for assembling and controlling the wing and fuselage of an aircraft, as described in this embodiment, is illustrated.

[0065] The aircraft wing and fuselage assembly control method involved in this embodiment uses an aircraft wing and fuselage assembly auxiliary system. The aircraft wing and fuselage assembly auxiliary system can clamp the wing mounting component 1 and move it to the correct position at the fuselage mounting component 2, so that the assembly interfaces of the wing mounting component 1 and the fuselage mounting component 2 can be quickly and accurately connected to achieve assembly.

[0066] like Figure 10 As shown, the fuselage mounting assembly 2 involved in this embodiment includes a fuselage mounting body 21 and a fuselage mounting structure 22; the fuselage mounting body 21 is connected to the fuselage mounting structure 22. A fuselage mounting body seat 211 is provided on the fuselage mounting body 211, and the fuselage mounting body seat 211 is connected to a fuselage mounting body ear plate 212; the fuselage mounting body ear plate 212 is provided with fuselage mounting body ear holes 213 for assembly and fastening. Preferably, the fuselage mounting body ear plate 212 has a double-ear structure.

[0067] Figure 10 Only a portion of the connection structure on the fuselage used for the actual connection of the wing mounting assembly 1 is shown. The assembly fixtures for securing the fuselage mounting assembly 2 are not shown in the drawings.

[0068] like Figure 9 As shown, the wing mounting assembly 1 involved in the method of this embodiment includes a wing mounting body 11 and a wing body 12; the wing body 12 includes a wing intermediate body 121 and a wing fuselage 122; a plurality of wing mounting bodies 11 are disposed at the wing intermediate body 121.

[0069] like Figure 11As shown, the wing mount 11 is provided with a wing mount seat 111, and the wing mount seat 111 is connected to a wing mount lug 112; the wing mount lug 112 is provided with wing mount lug holes 113 for assembly and fastening.

[0070] like Figure 2 and Figure 3 As shown, the aircraft wing and fuselage assembly auxiliary system involved in this embodiment includes a bracket support component, a sensing component, an industrial control center 7, and a transport component 8.

[0071] The bracket support component includes a flexible support assembly 3 and a bracket assembly 6, and may also include a flexible adjustment assembly 5. One flexible support assembly 3 is connected to each end of the bracket assembly 6; multiple flexible adjustment assemblies 5 are spaced apart in the middle of the bracket assembly 6; the wing fuselages 122 on both sides of the wing mounting assembly 1 are respectively held by the flexible support assemblies 3, and the flexible adjustment assemblies 5 are supported on the lower surface of the wing mounting assembly 1.

[0072] The transport component 8 is one of the displacement actuators controlled by the industrial control center 7. The power unit of the transport component can drive the bracket assembly 6 and its components to perform planar displacement under automatic guidance. The transport component 8 includes a transport unit 81 and a support frame adjustment unit 82. The support frame adjustment unit 82 can drive the bracket assembly 6 to perform positional adjustments in height and spatial angle on the transport unit 81.

[0073] Preferably, the transport unit 81 is an automated guided vehicle (AGV), and the power unit of the transport unit is the power unit of the AGV. The industrial control center 7 is integrated on the AGV.

[0074] The transport unit 81 is equipped with a transport unit position sensor 411, which sends the planar position information of the transport unit 81 to the industrial control center 7. The industrial control center 7 controls the start / stop / displacement of the transport unit power unit on the transport unit 81, driving the wing mounting assembly 1 to quickly approach the target position. Among them, the transport unit power unit drives the automatic guided transport vehicle to generate linear displacement and planar rotational displacement.

[0075] Preferably, the support frame adjustment unit 82 involved in this embodiment includes multiple support frame adjustment electric actuators. The power unit for the support frame adjustment unit is the support frame adjustment mechanism. The lower end of the support frame adjustment electric actuator is fixed to the upper end face of the carrier unit 81, and the upper end of the electric actuator is hinged to the lower end of the bracket assembly 6 through a lockable ball joint. The industrial control center 7 controls the electric actuators of the multiple support frame adjustment units 82 to quickly adjust the spatial orientation of the bracket assembly 6, so that the wing mounting assembly 1 on the bracket assembly 6 approaches and gradually arrives at the installation position of the fuselage mounting body 21 on the fuselage mounting assembly 2 with the correct orientation.

[0076] The sensing components involved in the method of this embodiment include a position sensing unit 41, a vision sensing component 42, and a pressure sensing unit 43. It also includes multiple different visual imaging devices installed on the assembly workspace / carrying unit 81 / assembly fixture for collecting image information of position markings.

[0077] The position sensing unit 41 of the sensing component includes a carrier unit position sensor 411, a flexible support position sensor 412, and a flexible adjustment position sensor 413.

[0078] The position sensing unit 41 can be any possible functional element that can provide data to the industrial control center 7 to determine the position relationship and thus provide displacement information to the actuator, such as various proximity switches, or a servo motor encoder that can be assigned a value (displacement amount), or a position acquisition device composed of a position marker that captures visual signals and a visual imaging device.

[0079] like Figure 6 and Figure 12 As shown, specifically, the carrier unit position sensor 411 and the flexible support position sensor 412 are a position acquisition device composed of a position marker and a visual imaging device.

[0080] like Figure 4 As shown, specifically, the flexible position sensor 413 is an encoder of a servo motor.

[0081] In this embodiment, the visual sensing component 42 is connected to the fuselage mounting body 21 of the fuselage mounting assembly 2. The visual sensing component 42 includes a primary visual unit 422 and a secondary visual unit 423. The visual sensing component 42 is used to determine the distance information between the wing mounting body 11 in the wing mounting assembly 1 and the fuselage mounting body 21 on the fuselage mounting assembly 2. The secondary visual unit 423 provides positional data information for preliminary positional adjustments during the assembly process; the primary visual unit 422 provides positional data information for precise positional adjustments during the later stages of the assembly process.

[0082] The pressure sensing unit 43 of the sensing components involved in the method of this embodiment includes a flexible support pressure sensor 431, a flexible adjustment pressure sensor 432, and a positioning body pressure sensor 433.

[0083] like Figure 6As shown, the flexible support pressure sensor 431 is installed on the flexible support assembly 3 to collect the clamping force of the flexible support assembly 3 on the wing mounting assembly 1. The industrial control center 7 can judge and control the clamping process of the flexible support assembly 3 on the wing mounting assembly 1 through the pressure value, so as to prevent the clamping force from exceeding the theoretical value and causing the wing body 122 to deform, thereby affecting the multiple mounting positions at the wing intermediate body 121 from being unable to maintain the correct mounting position at the same time.

[0084] like Figure 4 As shown, the flexible adjustment pressure sensor 432 is installed on the flexible adjustment component 5 to collect the supporting force exerted by the flexible adjustment component 5 on the lower surface of the wing mounting component 1. The industrial control center 7 can determine from the pressure value whether the supporting force exerted by the flexible support component 3 on the wing mounting component 1 is too small, causing the wing body 122 to deform downwards due to its own weight, or too large, causing the wing body 122 to deform upwards due to the force. This would affect the fact that multiple mounting positions at the wing intermediate body 121 cannot be kept in the correct mounting position at the same time.

[0085] Flexible support position sensor 412, flexible adjustment position sensor 413, flexible support pressure sensor 431 and flexible adjustment pressure sensor 432 are installed on the flexible support assembly 3. The collected data is simultaneously transmitted to the industrial control center 7. The industrial control center 7 coordinates and controls the wing mounting assembly 1 to quickly achieve overall attitude adjustment during the assembly process with the optimal path and reasonable clamping / supporting force.

[0086] like Figure 14 As shown, the positioning body pressure sensor 433 is disposed on the contact surface between the body mounting body 21 and the vision sensing component 42, and is used by the industrial control center 7 to determine whether the vision sensing component 42 and the body mounting component 2 are connected in place.

[0087] The industrial control center 7 involved in the method of this embodiment includes a database, a location solver, and a security and logic control solver.

[0088] The database of the industrial control center 7 stores various theoretical data, including design values ​​for each target position and rated pressure values ​​in the current assembly workspace; specifically, it contains theoretical position information for each designed installation position and clamping position in the current assembly workspace, as well as rated pressure information for each clamping force or support force. The database data can be edited according to actual working conditions.

[0089] The position solver of the industrial control center 7 can process the visual image information and position information data collected by the various sensors of the sensing components, and compare them with the target position design value in the database to generate real-time displacement information of each actuator; the safety and logic control solver can process the visual image information, position information or pressure information data collected by the sensing components, and compare them with the target position design value / pressure rated value in the database to determine and generate start / stop execution information of each actuator.

[0090] like Figure 1 As shown, corresponding to different actuators, the position solver of this embodiment includes multiple position calculation programs and displacement calculation programs. The position calculation programs include a carrier unit position calculation program, a flexible adjustment position calculation program, a flexible support position calculation program, and a visual guidance position calculation program; the displacement calculation programs include a carrier unit displacement calculation program, a flexible adjustment displacement calculation program, a flexible support displacement calculation program, and a visual guidance displacement calculation program. The calculation results of the carrier unit position calculation program, the flexible adjustment position calculation program, and the flexible support position calculation program can be linked and then fed into the subsequent displacement calculation program. The optimized displacement information for each displacement actuator is generated through the carrier unit displacement calculation program, the flexible adjustment displacement calculation program, and the flexible support displacement calculation program, respectively.

[0091] The safety and logic control solver of the industrial control center 7 stores position and / or pressure theoretical criteria, which are used to determine and generate start / stop execution signals for each actuator by comparing the position and / or pressure of the collected data with the theoretical data.

[0092] The industrial control center 7 receives data / images collected by sensing components through the front-end data protocol EtherCAT (Ether Control Automation Technology), performs calculations / judgments through the position solver and / or safety and logic control solver, and generates various directional data results. Each result data is used to generate displacement information or start / stop command information for each actuator through the back-end data protocol EtherCAT.

[0093] The data processing procedures of the industrial control center 7 will be omitted in the following technical description.

[0094] Combination Figure 1 The specific description of the aircraft wing and fuselage assembly control method involved in this embodiment is as follows:

[0095] S1. Preparations:

[0096] S11. Preparation of fuselage mounting component 2:

[0097] S111. Secure the fuselage mounting assembly 2 to the assembly fixture:

[0098] The assembly fixture used in this embodiment is a conventional fixture, capable of installing and fixing the fuselage mounting component 2 under reasonable installation stress while maintaining the designed positions of each assembly interface. The assembly fixture can also install lifting equipment and a visual imaging device.

[0099] S112. Connect the visual sensing component 42 to the body mounting component 2:

[0100] First, the structure of the visual sensing component 42 involved in the method of this embodiment will be introduced:

[0101] like Figure 12 and Figure 13 In addition to the main vision unit 422 and the auxiliary vision unit 423, the vision sensing component 42 also includes a vision support unit 421, a vision power unit 424, and a vision signal transmission unit 425. A positioning body pressure sensor 433 is also connected to the vision sensing component 42.

[0102] The visual signal transmission unit 425 includes a router 4251 and an antenna 4252, which are used to transmit visual image signals to the industrial control center 7.

[0103] like Figure 13 and Figure 14 As shown, the main vision unit 422 includes a coaxially arranged main camera 4221, a main camera positioning cylinder 4222, a main light source subunit 4223, and an assembly positioning subunit 4224. The auxiliary vision unit 423 includes an auxiliary camera 4231, an auxiliary camera protective housing 4232, and an auxiliary camera light source 4233.

[0104] The main camera 4221, the auxiliary camera 4231, and the visual signal transmission unit 425 essentially constitute a visual guidance sensor.

[0105] like Figure 13 and Figure 14 As shown, the vision support unit 421 includes a support frame 4211, a guide rail sub-unit 4212, and a push sub-unit 4213; the guide rail sub-unit 4212 and the push sub-unit 4213 are connected to the support frame 4211.

[0106] like Figure 15 As shown, the support frame 4211 includes a movable clamping plate and a fixed mounting plate, with the first end of the movable clamping plate connected to the upper end of the fixed mounting plate. In this embodiment, the movable clamping plate and the fixed mounting plate are integrally formed and positioned at a 90° angle.

[0107] The movable clamping plate of the support frame 4211 is provided with a push unit mounting position 42111, a guide rail mounting groove 42112, an auxiliary camera mounting part 42113, and an auxiliary light source mounting position 42115. The lower end of the fixed mounting plate of the support frame 4211 is provided with a main light source mounting part 42114.

[0108] The main light source mounting section 42114 is a through stepped hole, including a countersunk hole structure main light source positioning countersunk platform and a through hole structure main light source light transmission hole that passes through the fixed mounting plate; the main light source positioning countersunk platform is used to install the assembly positioning sub-unit 4224.

[0109] The inner surface of the main light source mounting part 42114 is provided with a protruding mounting ear positioning body 42116, and the mounting ear positioning body 42116 is provided with a mounting ear positioning surface 421161 in the direction towards the center of the main light source mounting part 42114. The mounting ear positioning body 42116 can be integrally formed with the fixed mounting plate, or it can be designed separately and then connected to the fixed mounting plate.

[0110] In this preferred embodiment, the mounting ear positioning surface 421161 is an inclined surface perpendicular to the outer end face of the main light source mounting part 42114. The angle of this inclined surface is consistent with the ear-side inclined surface of the ear plate 212 of the fuselage mounting body.

[0111] A push unit mounting position 42111 is located at the second end of the movable clamping plate of the support frame 4211, and a push unit 4213 is connected to the push unit mounting position 42111. A guide rail mounting groove 42112 is located on the inner surface of the movable clamping plate, and the guide rail unit 4212 is installed in the guide rail mounting groove 42112. The guide rail unit 4212 includes a movable guide rail 42121 and a fixed guide rail 42122. The push unit 4213 can directly / indirectly push the movable guide rail 42121 to make linear displacement on the fixed guide rail 42122. An auxiliary vision unit 423 is installed at the auxiliary camera mounting part 42113.

[0112] like Figure 13 and Figure 14 As shown, the visual sensing component 42 also includes a mounting housing unit 426. A mounting housing light hole is provided on one of the lower sides of the mounting housing unit 426; at the mounting housing light hole of the mounting housing unit 426, the main camera 4221 is internally connected and the main camera positioning cylinder 4222 is externally connected; the visual power unit 424 is integrated within the mounting housing unit 426; the antenna 4252 is mounted on the mounting housing unit 426, and the router 4251 is mounted on the upper part of the movable clamping plate.

[0113] The housing unit 426 is movably connected to the movable guide rail 42121.

[0114] The auxiliary camera 4231 is connected to the auxiliary camera mounting part 42113, and the auxiliary camera protective housing 4232 covers the upper part of the auxiliary camera 4231 and is fixedly connected to the upper part of the movable clamping plate. The auxiliary camera light source 4233 is connected to the auxiliary light source mounting position 42115 by a universal joint with a fastening function.

[0115] The assembly positioning unit 4224 has a stepped axle structure designed to match the main light source mounting part 42114. It includes a positioning body mounting part 42241 and a positioning body centering part 42242 arranged coaxially, and a positioning body main light source light transmission hole 42243 that runs through the entire stepped axle structure. The assembly positioning unit 4224 is connected to the main light source mounting part 42114 on the lower inner side of the fixed mounting plate of the support frame 4211.

[0116] On the lower outer side of the fixed mounting plate of the support frame 4211, opposite to the main light source mounting part 42114, a main light source sub-unit 4223 is connected. The main light source sub-unit 4223 includes a main light source housing 42231, a main light source emitter 42232, and a main light source switch 42233. The main light source emitter 42232 is connected to the main light source housing 42231 via a main light source fastener 42234, and the main light source housing 42231 is connected to the lower outer side of the fixed mounting plate of the support frame 4211.

[0117] like Figure 12 and Figure 14 As shown, preferably, the positioning body pressure sensor 433 is connected to the outer platform of the positioning body mounting part 42241 to sense the pressure of the main camera positioning cylinder 4222 pressing against the ear plate 212 of the body mounting part under the drive of the pushing sub-unit 4213.

[0118] The push unit 4213 can be a manually operated screw. Preferably, the push unit 4213 involved in the method of this embodiment is a relay-controlled electric push rod. The connection or disconnection of the relay is controlled by the signal from the industrial control center 7. The output end of the push unit 4213 is connected to the mounting housing unit 426 / movable guide rail 42121; the push unit 4213 receives the displacement command from the industrial control center 7 and performs telescopic movement, thereby driving the parts connected to the mounting housing unit 426 to produce linear displacement by pushing the mounting housing unit 426 / movable guide rail 42121, so that the main camera positioning cylinder 4222 moves closer to or away from the body mounting plate 212.

[0119] The main light source light transmission hole 42243 of the positioning body is coaxially arranged with the main light source transmission hole and the light hole of the mounting housing. The centering part 42242 of the positioning body serves as a boss structure to position the center of the mounting body ear hole 213 of the connecting body mounting assembly 2, thereby limiting the axial and central positions of the body mounting assembly 2. The mounting ear positioning body 42116 serves as a boss structure, cooperating with the mounting ear positioning surface 421161, to prevent the body mounting assembly 2 from rotating radially, thus limiting the radial position of the body mounting assembly 2. The relative positions of the body mounting assembly 2 and the vision sensing assembly 42 are omnidirectionally defined.

[0120] The auxiliary vision unit 423 acquires images of the edges of the wing mount 11 relative to the fuselage mount 21, or a set of corresponding identification codes, to provide data support for the rapid displacement of the wing mount 1 to the fuselage mount 2; the main vision unit 422 acquires images of the hole position deviation between the wing mount ear hole 113 and the fuselage mount ear hole 213, to provide data support for finely adjusting the displacement of the wing mount 1 and the fuselage mount 2 to align their installation positions.

[0121] The real-time image data of the appearance position relationship collected by the auxiliary vision unit 423 and the real-time image data of the circumferential position deviation collected by the main vision unit 422 can both be stored in the router 4251, and the real-time image data is transmitted to the industrial control center 7 through the antenna 4252.

[0122] The vision power unit 424 is integrated within the mounting housing unit 426 and includes a battery unit, a boost module, a buck module, a power switch, and a power charging interface. The power charging interface charges the battery unit, and the power from the battery unit is supplied to the main vision unit 422 and the auxiliary vision unit 423 via the boost module. The power from the battery unit is supplied to the router 4251 via the buck module.

[0123] This integrated configuration of power supply with boost and buck modules can significantly reduce the number of batteries and the space requirements of high-voltage batteries, while simultaneously meeting the voltage requirements of various components in a small space, thus saving space.

[0124] S1121. Adjust the visual sensing component 42 to an installable state:

[0125] Specifically, the pushing sub-unit 4213 moves the mounting housing unit 426 away from the auxiliary camera 4231, so that there is sufficient space between the opposite end faces of the main camera positioning cylinder 4222 and the assembly positioning sub-unit 4224, ensuring sufficient space for the vision sensing component 422 to be installed at the ear plate 212 of the dual-ear structure of the fuselage mounting body. This process requires the use of a vision imaging device installed in the assembly space to acquire feature boundary features of the designated workpiece.

[0126] This step involves two control processes:

[0127] (1) The industrial control center provides 7 pairs of vision guidance power devices, namely the servo motors that push the electric push rods of the sub-unit 4213, and the relays that provide the connection command information, which push the electric push rods of the sub-unit 4213 to drive the mounting housing unit 426 and its devices to move away from the auxiliary camera 4231.

[0128] (2) When the outer end face of the main camera positioning cylinder 4222 reaches the specified distance L1 from the auxiliary camera 4231 (L1 is stored in the database of the industrial control center 7), the industrial control center 7 provides stop command information to the vision guidance power device.

[0129] S1122. Position and install the visual sensing component 42 onto the body mounting component 2:

[0130] like Figure 12 As shown, the first side of the fuselage mounting ear plate 212 is sleeved onto the boss-shaped positioning body centering part 242 through the fuselage mounting ear hole 213, and the inclined surface of the first side of the fuselage mounting ear plate 212 is pressed against the mounting ear positioning surface to complete the positioning of the plane position and radial position rotation direction of the fuselage mounting assembly 2.

[0131] S1123. Lock the position of the visual sensing component 42:

[0132] The vision sensing component 42 is also equipped with a positioning body pressure sensor 433. The positioning body pressure sensor 433 can be installed on the outer end face of the main camera positioning cylinder 4222.

[0133] Preferably, the positioning pressure sensor 433 involved in the method of this embodiment is disposed on the outer end face of the assembly positioning sub-unit 4224, so that the positioning pressure sensor 433 can collect the force information at the remote end and transmit accurate and effective pressure data to the industrial control center 7.

[0134] The industrial control center 7 initiates the advancement process of the propulsion unit 4213, causing the mounting housing unit 426 to drive all its components, including the main camera 4221, to slide towards the auxiliary camera 4231 on the guide rail unit 4212; the main camera positioning cylinder 4222 gradually abuts against the outer end face of the second side of the body mounting body ear plate 212 on the body mounting assembly 2; the outer end face of the first side of the body mounting body ear plate 212 on the body mounting body ear plate 212 simultaneously abuts against the outer end face of the assembly positioning unit 4224; at this time, the positioning body pressure sensor 433 is under pressure, and the pressure data is transmitted to the industrial control center 7 through the visual signal transmission unit 425.

[0135] The database of the industrial control center 7 stores the rated positioning body pressure value. The pressure data collected by the positioning body pressure sensor 433 is transmitted to the industrial control center 7. The industrial control center 7 can compare the pressure data with the rated positioning body pressure value through a safety and logic control solver to determine whether the vision sensing component 42 involved in the method of this embodiment is properly connected to the body mounting component 2. When the pressure data transmitted by the positioning body pressure sensor 433 reaches the rated positioning body pressure value, the industrial control center 7 issues a stop control command to the push unit 4213 to avoid over-clamping and reduced assembly efficiency. At this time, the vision sensing component 42 can be locked on the body mounting component 2.

[0136] Therefore, the control of this step includes:

[0137] (1) The industrial control center 7 provides the start-up execution command information to the vision-guided power device, specifically by controlling the relay connection of the drive unit 4213;

[0138] (2) The industrial control center 7 processes the data collected by the positioning body pressure sensor 433 and controls the end of the propulsion process of the push unit 4213, specifically by controlling the relay of the push unit 4213 to disconnect.

[0139] S113. Position and set the second position identification code 2121 on the mounting plate 212 of the fuselage:

[0140] like Figure 12 As shown, a second position identification code 2121 is positioned and set on the ear plate 212 of the body mounting body. The second position identification code 2121 can be any form of marking code, used by the auxiliary camera 31 to capture the position of the ear plate 212 of the body mounting body. In this embodiment, the second position identification code 2121 is a barcode.

[0141] S12, Preparation of carrier component 8:

[0142] S121. Arrange the carrier unit position sensor 411 on the carrier assembly 8:

[0143] The position sensor 411 of the transport unit can be a visual camera device mounted on the undercarriage of the automatic guided transport vehicle of the transport unit 81 and a position marker set at the target point on the ground.

[0144] like Figure 2 As shown, preferably, the carrier unit position sensor 411 is a visual sensing device for the position markers on the automated guided vehicle of the carrier unit 81 and for the visual photographic device (not shown in the figures) installed on the surrounding assembly work space or assembly tooling. The carrier unit position sensor 411 is used to provide position data information for the initial adjustment of the position of the wing mounting assembly 1 during the initial stage of assembly.

[0145] S122. Install the support frame adjustment unit 82 onto the transport unit 81:

[0146] The support frame adjustment unit 82 involved in this embodiment includes four support frame adjustment electric push rods that are symmetrical in pairs and whose bases are connected to the platform on the upper surface of the transport unit 81; the upper end of the support frame adjustment unit 82 is provided with a lockable ball joint for hinged to the lower end surface of the bracket assembly 6.

[0147] S123. Electrically connect the support frame adjustment unit 82 and the transport unit 81.

[0148] S13. Preparation of bracket support components:

[0149] First, the structure of the flexible support assembly 3, the bracket assembly 6, and the flexible adjustment assembly 5 that make up the bracket support components will be introduced:

[0150] like Figure 5 As shown, the bracket assembly 6 involved in the method of this embodiment is a truss structure, which is adjusted downward to the support frame adjustment unit 82 via a lockable ball joint.

[0151] The bracket assembly 6 includes bracket side support plates 61, bracket crossbeams 62, bracket mounting units 63, and bracket connecting units 64. Multiple bracket crossbeams 62 are evenly distributed between the two bracket side support plates 61, forming a truss-structured bracket body. Two bracket mounting units 63 are located at the lower ends of the bracket body. The bracket mounting beams 631 are symmetrically and rigidly connected to the two bracket side support plates 61. Bracket mounting seats 632 are respectively provided on the lower sides of both ends of the bracket mounting beams 631. In this embodiment, the four bracket mounting seats 632 are hinged to the four electric push rod output ends of the support frame adjustment unit 82.

[0152] like Figure 5 and Figure 6 As shown, two bracket connection units 64 are respectively located at both ends of the bracket body. The bracket connection unit 64 is an open frame support structure made of plate. The bracket connection unit 64 is connected to both ends of the bracket body at an outwardly inclined angle so that the upwardly connected wing mounting assembly 1 can be higher than the body of the adjustment bracket assembly 6, avoiding structural interference during the docking and assembly process of the wing mounting assembly 1 and the wing mounting assembly 6.

[0153] like Figure 4 As shown, a bracket connection slot 641 is provided on the outer side of the bracket connection unit 64 for fixing and connecting the flexible support component 3.

[0154] like Figure 6 and Figure 7As shown, the flexible support assembly 3 includes an upper support portion 31, a lower support portion 32, a support locking unit 33, and a flexible support mounting portion 34. The upper support portion 31 and the lower support portion 32 are arranged opposite to each other, and the wing fuselage 122 of the wing mounting assembly 1 is clamped between the upper support portion 31 and the lower support portion 32; the lower support portion 32 and the flexible support mounting portion 34 are fixedly connected to form a flexible support fixing portion.

[0155] The aircraft wing and fuselage assembly auxiliary system involved in this embodiment also includes a hoisting device with a power unit for hoisting equipment. When the wing mounting assembly 1 is placed on the lower support 32 and adjusted to the correct position, the hoisting device needs to lift and move the upper support 31; after the upper support 31 is in place, it and the lower support 32 together clamp the wing mounting assembly 1 and lock it to the lower support 32 through the support locking unit 33.

[0156] Specifically, the first end of the support locking unit 33 is hinged to the upper support part 31; the second end of the support locking unit 33 is adjustablely locked to the lower support part 32; the inner side of the flexible support mounting part 34 is connected to the lower support part 32, and the outer side of the flexible support mounting part 34 is connected to the bracket connecting unit 64.

[0157] Specifically, the upper support portion 31 includes an upper support body 311 and an upper support flexible layer 312; the lower support portion 32 includes a lower support body 321 and a lower support flexible layer 322. The upper support body 311 and the lower support body 321 are rigid arc-shaped support plates, and the upper support flexible layer 312 and the lower support flexible layer 322 are arc-shaped clamps, wherein the lower end surface of the lower support body 321 is a plane.

[0158] Preferably, the arc-shaped clamp is a flexible fixing structure made of non-woven fabric and felt. The lateral curvature and longitudinal cross-sectional shape of the arc-shaped clamp are designed to match the wing body 122 at the set position, that is, the corresponding curved surface is consistent.

[0159] The opposing surfaces of the arc-shaped clamping plates of the upper support flexible layer 312 and the lower support flexible layer 322 serve as working surfaces, shaping and clamping the wing fuselage 122. Its soft fixing structure ensures that the flexible support component 3 does not damage the structure of the wing mounting component 1 during the clamping process, and can overcome the inconsistent clamping stress at different positions caused by the incomplete matching between the clamping surface and the wing mounting component 1 due to manufacturing errors through flexible contact, thus avoiding unnecessary clamping force damage or deformation of the wing mounting component 1.

[0160] The bottom surface of the lower support body 321 is provided with lower support body connecting ears at both ends in the horizontal direction, and the lower support body connecting ears are provided with lower support body connecting positions 3211.

[0161] The flexible support assembly 3 also includes a flexible support sensing unit. The flexible support sensing unit includes a flexible support position sensor 412 and a flexible support pressure sensor 431. Data from the flexible support position sensor 412 is used to position the upper support 31 during its displacement to the lower support 32; data from the flexible support pressure sensor 431 is used to control the locking force during the locking of the upper support 31 onto the lower support 32, preventing overload of the locking force from causing deformation of the wing fuselage 122. The flexible support pressure sensor 431 is located on the upper part of the lower support body 321, in contact with the lower part of the lower support flexible layer 322. Specifically, it is located at the center of mass of the lower support 32.

[0162] The flexible support position sensor 412 involved in the method of this embodiment can take various forms, including but not limited to position markers. The position marker can be identified by the flexible support position sensor 412 and its position information can be collected and communicated with the industrial control center 7. The industrial control center 7 can control the planar attitude adjustment and height adjustment of the upper support part 31 according to the position information, and finally lower the upper support part 31 onto the upper surface of the wing mounting assembly 1, where it is locked by the support locking unit 33.

[0163] The flexible support pressure sensor 431 can transmit the locking force of the support locking unit 33 to the industrial control center 7 in real time. When the pressure reaches the rated value, the industrial control center 7 issues a warning that the locking force meets the standard or a command to stop further locking.

[0164] The support locking unit 33 can be any support body connection position 3211 that is hinged to the upper support part 31 and locked to the lower support part 32.

[0165] like Figure 7 As shown, the flexible support mounting part 34 includes a side eccentric bracket 341 and a flexible support mounting fixing frame 342. The side eccentric bracket 341 is a truss structure.

[0166] Because the wingspan shape of the wing fuselage 122 causes its center of mass to deviate from its structural center in the lateral direction, the side eccentric bracket 341 is designed as an eccentric truss so that the center of mass of the wing mounting assembly 1 falls on the split surface of the bracket assembly 6 in the lateral direction, ensuring that the wing mounting assembly 1 does not produce gravitational skew during assembly and can be stably mounted on the bracket assembly 6.

[0167] The flexible support mounting frame 342 is fastened to the bracket connection slot 641.

[0168] The bracket support component involved in the method of this embodiment may further include a flexible adjustment component 5. The flexible adjustment component 5 can assist the flexible support component 3 in adjusting the attitude of the wing mounting component 1 with wingspan during the installation process, so that the overall attitude of the wing mounting component 1 with slender wing fuselage 122 is consistent with the design structure during the assembly process, ensuring that the installation position of the wing mounting component 1 and the installation position of the fuselage mounting component 2 are quickly and correctly matched, and the assembly work is completed efficiently.

[0169] like Figure 2 and Figure 4 As shown, this embodiment is provided with four flexible adjustment components 5 arranged in pairs and symmetrically connected to the bracket beam 61, with the center of symmetry being the mid-section of the wing intermediate body 121.

[0170] like Figure 8 As shown, the flexible adjustment assembly 5 includes a flexible adjustment support unit 51 and a flexible adjustment positioning unit 52. The flexible adjustment support unit 51 is connected to the upper end of the flexible adjustment positioning unit 52. The flexible adjustment assembly 5 also includes a flexible adjustment pressure sensor 432. The flexible adjustment pressure sensor 432 is disposed on the flexible adjustment support unit 51.

[0171] The flexible adjustment support unit 51 includes a flexible adjustment support body 511 and a flexible adjustment support flexible layer 512; the flexible adjustment support flexible layer 512 covers and is connected to the upper surface of the flexible adjustment support body 511, and the lower end of the flexible adjustment support body 511 is connected to the upper end of the flexible adjustment adjustment unit 52. The flexible adjustment pressure sensor 432 is disposed on the upper surface of the flexible adjustment support body 511 and is in contact with the flexible adjustment support flexible layer 512.

[0172] The flexible adjustment support flexible layer 512 is a soft fixing structure with an arc-shaped upper surface, made of non-woven fabric and felt. The arc-shaped upper surface of each flexible adjustment support flexible layer 512 is the working surface, and is shaped and designed to fit closely to the lower surface of the wing fuselage 122.

[0173] The flexible adjustment and positioning unit 52 includes a flexible adjustment and positioning device, specifically a vertical adjustment body 521, a horizontal adjustment body 522, and a longitudinal adjustment body 523. The flexible adjustment and positioning power device includes a vertical adjustment body power device, a horizontal adjustment body power device, and a longitudinal adjustment body power device; each is equipped with a servo motor. The servo motor is equipped with an encoder capable of assigning values. The displacement value can be assigned to the encoder by setting the displacement value, or the displacement assignment of the servo motor can be corrected in real time by the industrial control center 7 through signal transmission.

[0174] The start and stop of each servo motor are controlled by relays, and the opening and closing of the relays are controlled by the industrial control center 7; the mounting surface of the horizontal adjustment body 522 is connected to the bracket beam 62 at the support position; the horizontal adjustment body 522, the longitudinal adjustment body 523 and the vertical adjustment body 521 are connected in sequence; the upper end of the vertical adjustment body 521 is connected to the flexible adjustment support body 511; the horizontal adjustment body 522 and the longitudinal adjustment body 523 are provided with sliding guide rails that drive the load displacement, and the vertical adjustment body 521 is provided with a guide rod that lifts the flexible adjustment support unit 51.

[0175] The industrial control center 7 controls the displacement of the flexible adjustment and positioning unit 52, so that the flexible adjustment support unit 51 moves longitudinally with the longitudinal adjustment body 523 and moves laterally with the lateral adjustment body 522, so as to adjust the planar attitude of the flexible adjustment support flexible layer 512 to be consistent with the curved surface position of the wing fuselage 122 at the position to be supported; then, the flexible adjustment support unit 51 moves up and down with the vertical adjustment body 521, so as to control the flexible adjustment support unit 51 to support the wing fuselage 122.

[0176] Preferably, the flexible adjustment support position sensor includes a vertical position sensor, a lateral position sensor, and a longitudinal position sensor, which are respectively a servo motor encoder on the vertical adjustment body 521, a servo motor encoder on the lateral adjustment body 522, and a servo motor encoder on the longitudinal adjustment body 523. Each servo motor encoder is assigned theoretical displacement data, or communicates in real time with the industrial control center 7 to obtain real-time displacement commands for the servo motor.

[0177] S131. Install the flexible adjustment component 5 on the bracket assembly 6:

[0178] like Figure 8 As shown, flexible adjustment units 52 are installed on two pairs of symmetrically arranged bracket beams 61 via transverse adjustment bodies 522. After installation, the displacement values ​​of each encoder are adjusted according to the installation position, and the relevant database values ​​in the industrial control center 7 are adjusted.

[0179] like Figure 4 As shown, a flexible adjustment pressure sensor 432 is installed between the flexible adjustment support 511 and the flexible adjustment support flexible layer 512 of each flexible adjustment component 5.

[0180] S132. Install the flexible support fixing part on the bracket assembly 6:

[0181] The flexible support fixing part is fixedly connected to the bracket connection unit 64 by the flexible support mounting fixing frame 342 thereon.

[0182] S133. Flexible support position sensors 412 are arranged on and around the upper support 31:

[0183] like Figure 6 As shown, preferably, the flexible support position sensor 412 includes a flexible support position mark 4121 disposed at a characteristic position on the upper surface of the upper support portion 31 and a flexible support visual imaging device (not shown in the figures) disposed in the surrounding assembly workspace or on the assembly fixture. The flexible support visual imaging device captures image information of the flexible support position mark 4121 and forms position information.

[0184] S134. Install the bracket support component onto the positioning and transport assembly 8:

[0185] By adjusting the upper end of the lockable ball joint support frame adjustment unit 82 and the bracket mounting seat 632, the bracket support component is installed on the positioning and carrying assembly 8 to form an auxiliary displacement body for the wing.

[0186] S14. Preparation of Wing Mounting Assembly 1:

[0187] like Figure 12 As shown, a first position identification code 1121 is positioned and set on the wing mounting lug 112. The first position identification code 1121 can be any form of marking code, used by the auxiliary camera 31 to capture the position of the wing mounting lug 112. In this embodiment, the first position identification code 1121 is a barcode that has linear consistency with the second position identification code 2121 under ideal installation position. The auxiliary camera 4231 can acquire images of the two position identification codes, and the industrial control center can determine the positional deviation between the two.

[0188] S2. Mount wing mounting assembly 1 onto the aircraft wing-fuselage assembly auxiliary system:

[0189] Specifically, the wing mounting assembly 1 is connected to the wing auxiliary displacement body in the correct orientation, ensuring that the positions of each assembly interface are consistent with the design positions.

[0190] S21. The wing mounting assembly 1 is clamped onto the flexible support assembly 3 via the upper support part 31:

[0191] This step includes:

[0192] (1) The industrial control center 7 controls the external hoisting equipment and adjusts the hoisting position of the upper support 31 by using the data feedback from the flexible support position sensor 412;

[0193] (2) The industrial control center 7 controls the locking force of the upper support part 31 and the lower support part 32 through the data feedback of the flexible support pressure sensor 431.

[0194] Preferably, in this embodiment, the industrial control center 7 controls the locking force by using a prompt sound to remind the user to stop further tightening.

[0195] S22. The wing mounting assembly 1 is adjusted to prevent deformation using the flexible adjustment component 5;

[0196] like Figure 1 As shown, this step includes the following control process:

[0197] (1) The start-up of the power unit of the flexible adjustment and positioning unit (the servo motors set in the vertical adjustment body 521, the horizontal adjustment body 522 and the longitudinal adjustment body 523 respectively) under the control of the industrial control center 7 is achieved by controlling the connection of each relay through the industrial control center 7.

[0198] (2) Displacement commands and stop commands of the horizontal adjustment body 522 and the vertical adjustment body 523 under the control of the industrial control center 7; the displacement commands can be provided by the industrial control center 7, or the horizontal adjustment body 522 and the vertical adjustment body 523 can be executed according to their respective servo motor codes; the stop command is achieved by the industrial control center 7 controlling the disconnection of each relay.

[0199] (3) The vertical adjustment body 521 performs a stop action based on the principle of time priority. The stop signal includes the stop command formed by the completion of the servo motor encoding assignment of the vertical adjustment body 521, or the stop command information provided by the industrial control center 7 after processing the data collected by the flexible adjustment pressure sensor 432.

[0200] like Figure 8 As shown, the execution of the first two items can adjust the planar position of the flexible adjustment support flexible layer 512 to conform to the airfoil of the lower surface of the wing mounting assembly 1; the latter adjustment can enable the flexible adjustment support unit 51 to be supported on the lower surface of the wing mounting assembly 1 with a reasonable supporting force. The combined action of multiple flexible adjustment assemblies 5 can ensure that the multiple mounting interfaces (wing mounting lugs 113) at the wing intermediate body 121 are all in the correct mounting position.

[0201] S23. Adjust the attitude of the wing mounting assembly 1 on the bracket assembly 6 through the support frame adjustment unit 82:

[0202] This step involves the industrial control center 7 providing the servo motor of the electric push rod of the support frame adjustment unit 82, i.e., the power unit of the support frame adjustment unit 82, through the flexible support position sensor 412, so that multiple electric push rods produce the same / different displacements; this control process can adjust the three-dimensional attitude of the bracket assembly 6 and its connected wing mounting assembly 1 in real time, so that the horizontal projection position of each wing mounting body ear plate 112 on the wing mounting assembly 1 is simultaneously in the theoretical design state, and the horizontal projection matches the horizontal projection position of the fuselage mounting body ear plate 212 of the fuselage mounting assembly 2 installed on the assembly fixture.

[0203] S3, the carrier component 8 drives the wing mounting component 1 into the assembly position:

[0204] S31. Rapid movement control of the transport unit 81 during the initial stage of the assembly process:

[0205] The transport unit 81 drives the wing mounting assembly 1 to move rapidly toward the fuselage mounting assembly 2, including planar rotational displacement and linear displacement, so that the wing mounting body ear plate 112 is aligned vertically below the two ears of the fuselage mounting body ear plate 212.

[0206] like Figure 1 As shown, this step includes the process of the industrial control center 7 collecting data from the position sensor 411 of the transport unit and providing displacement information to the power unit of the transport unit.

[0207] Preferably, in this embodiment, the power unit of the transport unit drives the transport unit 81 to move rapidly at a speed of 0.3-0.6 m / s.

[0208] S32. Rapid vertical and lateral movement control of wing mounting assembly 1 during assembly:

[0209] The support frame adjustment unit 82 lifts the wing mounting assembly 1, causing it to move rapidly in a vertical linear displacement, so that multiple wing mounting lugs 112 simultaneously or successively enter the space between the lugs of the corresponding fuselage mounting lugs 212. This continues until the auxiliary camera 4231 simultaneously captures the first position identification code 1121 and the second position identification code 2121.

[0210] like Figure 1 As shown, this step includes the process of the industrial control center 7 processing the image information of the first position identification code 1121 and the second position identification code 2121 collected by the auxiliary camera 4231 in the vision guidance sensor, determining the distance L2 information between the fuselage mounting body ear plate 212 and the wing mounting body ear plate 112 (L2 is stored in the database of the industrial control center 7), providing displacement information to the support frame adjustment power device in real time, and adjusting the lifting distance and speed of the support frame adjustment unit 82 (including vertical and lateral displacement).

[0211] Preferably, the rapid moving speed of the support frame adjustment unit 82 during the lifting process in this embodiment is 8mm-10mm / s.

[0212] Preferably, in this embodiment, when the L2 value is equal to the diameter of the wing mounting hole 113 / fuselage mounting hole 213, the industrial control center 7 starts the main camera 4221 to collect visual image signals, and the lifting speed of the support frame adjustment unit 82 decreases.

[0213] S33. During the assembly process, slow vertical and lateral movement control of wing mounting assembly 1:

[0214] The support frame adjustment unit 82 slowly adjusts the vertical and lateral positions of the wing mounting assembly 1, causing multiple wing mounting lugs 112 to shift between the two lugs of the fuselage mounting lug 212 until the overlap between the wing mounting lug holes 113 and the fuselage mounting lug holes 213 meets the assembly accuracy requirements. At this point, the relay in the support frame adjustment unit 82 disconnects, and the movement stops.

[0215] like Figure 1 As shown, the steps include: the industrial control center 7 receiving and processing the image information of the inner hole edge of the wing mounting lug 113 and the fuselage mounting lug 213 collected by the main camera 4221, determining the overlap position information of the wing mounting lug 113 and the fuselage mounting lug 213, and controlling the lifting speed (including vertical and lateral displacement) of the support frame adjustment unit 82 in real time until it stops.

[0216] Preferably, the slow moving speed of the support frame adjustment unit 82 during the lifting process in this embodiment is 1mm-5mm / s.

[0217] Preferably, in steps S32 and S33, the multiple support frame adjustment units 82 are synchronously displaced.

[0218] The visual guidance sensor can collect information on the installation positions of the wing mounting assembly 1 and the fuselage mounting assembly 2, and transmit it to the industrial control center 7. The industrial control center 7 can calculate the displacement control command of the comprehensive optimal path of each actuator and determine whether the displacement is in place, and provide stop displacement command information.

[0219] S4. Connect the wing mounting assembly 1 to the fuselage mounting assembly 2 at multiple points using fastening devices:

[0220] S41. Remove the main visual unit 422 from its installation position:

[0221] like Figure 12 As shown, after step S33 is completed, the wing mounting lug 113 and the fuselage mounting lug 213 coincide. At this time, the main camera positioning cylinder 4222 in the main vision unit 422 is still abutting against the outside of the fuselage mounting lug 212. In order to perform the assembly work of fastening the wing mounting assembly 1 to the fuselage mounting assembly 2, the main camera positioning cylinder 4222 needs to be removed from the mounting position.

[0222] like Figure 1 As shown, this step includes the following control steps:

[0223] (1) The relay of the 7-way vision guidance power device of the industrial control center, namely the push sub-unit 4213, provides the connection command information and the execution command information for displacement in the direction closer to the auxiliary vision unit 423.

[0224] (2) The relay of the 7-way vision guidance power device of the industrial control center, namely the drive sub-unit 4213, provides the execution information of the connection and provides the instruction information of displacement in the direction away from the auxiliary vision unit 423.

[0225] (3) It also includes the visual guidance power device of the industrial control center 7, namely the push sub-unit 4213, whose relay provides the disconnection execution signal, and the push sub-unit 4213 stops displacement; when the push sub-unit 4213 drives the main camera positioning cylinder 4222 to reach the auxiliary camera 4231 at a specified distance L3 (L3 is stored in the database of the industrial control center 7) / the push sub-unit 4213 drives the main camera positioning cylinder 4222 to the outside of the mounting body ear plate 212 of the fuselage, and the pressure value collected by the positioning body pressure sensor 433 reaches the rated positioning body pressure value in the database of the industrial control center 7, the control process is started.

[0226] S42. Connect the wing mounting assembly 1 to the fuselage mounting assembly 2:

[0227] The wing mounting assembly 1 is connected to the fuselage mounting assembly 2 at multiple points by means of a fastening device that passes through the wing mounting lug 113 and the fuselage mounting lug 213.

[0228] S5. Remove the auxiliary tooling and complete the assembly from wing mounting assembly 1 to fuselage mounting assembly 2:

[0229] S51. Release the support locking unit 33 and lift the upper support part 31 away;

[0230] S52, Lower the vertical adjustment body 521:

[0231] This step includes the industrial control center 7 providing execution information for the servo motor relay of the vertical adjustment body 521 in the power unit of the support frame adjustment unit to be connected, and the industrial control center 7 providing execution information for the servo motor of the vertical adjustment body 521 to rotate in the opposite direction, driving the flexible adjustment support unit 51 to land and detach from the airfoil of the wing mounting assembly 1.

[0232] S53, Bracket assembly 6 descends and moves out:

[0233] This step includes the industrial control center 7 providing communication execution information to the relay of the support frame adjustment unit 82, and the support frame adjustment unit 82 descending and performing longitudinal exit displacement.

[0234] Preferably, steps S52 and S53 of the method in this embodiment are performed simultaneously.

[0235] S54, Transport Unit 81 withdraws:

[0236] This step includes the industrial control center 7 providing start command information to the power unit of the transport unit, and the transport component 8 driving the devices on it (the transport unit 81 driving the support frame adjustment unit 82 and the bracket support component) to leave the assembly and return to the docking station.

[0237] The aircraft wing and fuselage assembly control method of this invention has a high degree of automation, enabling integrated control and significantly improving the assembly efficiency and accuracy of aircraft fuselage and wing assembly. This method can be applied to the assembly process of other large tooling, with a wide range of applications, and is particularly suitable for the hole-system docking assembly of easily deformable large components.

[0238] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An aircraft wing-fuselage assembly control method, characterized in that, The wing installation assembly (1) is assembled and connected on the fuselage installation assembly (2) by using the aircraft wing fuselage assembly auxiliary system; wherein, the aircraft wing fuselage assembly auxiliary system comprises a bracket supporting component, a sensing component, an industrial control center (7) and a carrying assembly (8); the bracket supporting component comprises a flexible supporting assembly (3) and a bracket assembly (6); the sensing component comprises a position sensing unit (41), a visual sensing assembly (42) and a pressure sensing unit (43); The aircraft wing fuselage assembly control method comprises the following steps: S1, preparation work: including the preparation of the wing installation assembly (1), the fuselage installation assembly (2), the carrying assembly (8) and the bracket supporting component; Wherein, the visual sensing assembly (42) is installed on the fuselage installation assembly (2), and the industrial control center (7) processes the data collected by the visual sensor to control the visual guide power device; S2, the wing installation assembly (1) is clamped to the aircraft wing fuselage assembly auxiliary system: Wherein, the industrial control center (7) processes the data collected by the flexible supporting position sensor (412) and the flexible supporting pressure sensor (431) to control the installation and locking of the upper supporting part (31) of the flexible supporting assembly (3); further comprising the industrial control center (7) processing the data collected by the flexible supporting position sensor (412) to provide displacement information for the supporting frame adjustment unit power device; Further comprising a flexible adjustment assembly (5); the flexible adjustment assembly (5) comprises a flexible adjustment supporting unit (51) and a flexible adjustment position adjusting unit (52); The wing installation assembly (1) is prevented from deforming by the data of the flexible position adjusting position sensor and the flexible position adjusting pressure sensor (432) in the flexible adjustment assembly (5); the flexible adjustment supporting unit (51) comprises a flexible adjustment supporting body (511) and a flexible adjustment supporting flexible layer (512); the flexible position adjusting pressure sensor (432) is arranged between the flexible adjustment supporting body (511) and the flexible adjustment supporting flexible layer (512); The flexible adjustment position adjusting unit (52) comprises a vertical position adjusting body (521), a horizontal position adjusting body (522) and a longitudinal position adjusting body (523); S3, the carrying assembly (8) drives the wing installation assembly (1) to enter the assembly position: Wherein, the industrial control center (7) processes the data collected by the carrying unit position sensor (411) and the visual guide sensor to provide displacement information for the carrying unit power device; S4, the wing installation assembly (1) is connected with the fuselage installation assembly (2) by a plurality of points through the fastening device: Wherein, the industrial control center (7) starts the visual guide power device and provides the execution information of start / displacement / stop for the pushing subunit (4213) on the visual sensing assembly (42); S5, the auxiliary tooling is withdrawn, and the assembly of the wing installation assembly (1) to the fuselage installation assembly (2) is completed: Wherein, the industrial control center (7) starts the carrying assembly power device, the hoisting equipment power device and the visual guide power device, and the carrying assembly (8) drives the bracket supporting component to separate from the wing installation assembly (1) to the parking station.

2. The aircraft wing-fuselage assembly control method according to claim 1, characterized in that, The flexible support position sensor (412) in step S2 comprises a flexible support position identifier (4121) and a flexible support visual camera.

3. The aircraft wing-fuselage assembly control method according to claim 2, characterized in that, The flexible support position sensor (412) is arranged on the upper support part (31), and the flexible support pressure sensor (431) is arranged on the lower support part (32) of the flexible support assembly (3).

4. The aircraft wing-fuselage assembly control method according to Claim 1, characterized in that, The visual sensing assembly (42) comprises a main visual unit (422) and an auxiliary visual unit (423), and the main visual unit (422) is provided with a positioning body pressure sensor (433).

5. The aircraft wing-fuselage assembly control method according to Claim 1, characterized in that, The carrying assembly (8) comprises a carrying unit (81) and a support frame adjusting unit (82), the carrying unit (81) is provided with a carrying unit power device and a carrying unit position sensor (411), and the support frame adjusting unit (82) is provided with a support frame adjusting power device.

6. The aircraft wing-fuselage assembly control method according to Claim 1, characterized in that, The industrial control center (7) comprises a database, a position solver and a safety and logic control solver, the database stores target position design values and pressure rating values, the position solver can process data collected by the sensing components and compare the data with the target position design values in the database to generate displacement information; The safety and logic control solver can process data collected by the sensing components and compare the data with the target position design values / pressure rating values in the database to determine and generate execution information of starting / stopping of each execution element.

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