A flexible tooling platform for multi-level automated assembly of aircraft

Abstract

The present application relates to the technical field of aircraft manufacturing, and provides a flexible tooling platform for multi-level automatic assembly of an aircraft, comprising a base frame, a dynamic positioner and an assembly tooling; the base frame comprises spaced upper and lower crossbeams, the upper and lower crossbeams being movable along an X-axis direction; the dynamic positioner comprises upper and lower positioners movable along a Z-axis direction and a robot, the upper and lower positioners being movable along a Y-axis direction respectively, and the robot being arranged on both sides of the lower crossbeam along the Y-axis direction respectively; and the assembly tooling is mounted at the end of the upper positioner, the lower positioner and the robot. The flexible tooling platform of the present application, with the upper and lower crossbeams movable along the X-axis direction and the upper and lower positioners movable along the Y-axis and Z-axis directions, realizes various single-axis and multi-axis movements of the dynamic positioner, forms different assembly scene layouts and constitutes specific assembly scenes, thereby not only reducing the assembly process, but also saving the assembly cost and time.

Description

Technical Field

[0001] This invention relates to the field of aircraft manufacturing technology, and further to a flexible tooling platform for multi-level automated assembly of aircraft. Background Technology

[0002] Aircraft assembly involves a large number of different components to be processed, such as slat assemblies, door assemblies, and panel assemblies. Each component has its own unique assembly scenario and tooling. Therefore, it is necessary to set up flexible installation tooling specifically for each component. This not only wastes a lot of labor and equipment costs, but also occupies a lot of factory space. Moreover, transferring the components to be processed between various flexible installation tooling is time-consuming and labor-intensive. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a flexible tooling platform for multi-level automated assembly of aircraft. The upper and lower crossbeams are movable along the X-axis, and the upper and lower positioners are movable along the Y and Z axes, respectively. This platform enables various single-axis and multi-axis movements of the dynamic positioner, forming different assembly scenario layouts and realizing multi-level automated assembly of the dynamic positioner. By installing different assembly toolings on the dynamic positioner, specific assembly scenarios can be formed, allowing for the assembly of various aircraft components. This not only reduces the assembly process but also saves assembly costs and time.

[0004] To achieve the above objectives, the present invention provides a flexible tooling platform for multi-level automated assembly of aircraft, including a base frame, a dynamic positioner, and assembly tooling; the base frame includes at least two upper crossbeams and at least two lower crossbeams, the upper crossbeams and the lower crossbeams are spaced apart along the X-axis direction, and the upper crossbeams and the lower crossbeams are movable along the X-axis direction. The dynamic positioner includes several upper positioners, several lower positioners, and several robots. The upper positioners are movably mounted on the upper crossbeam along the Y-axis, and the lower positioners are movably mounted on the lower crossbeam along the Y-axis. Both the upper and lower positioners are movable along the Z-axis. The robots are respectively arranged on both sides of the lower crossbeam along the Y-axis. The upper positioners, the lower positioners, and the end effectors of the robots are all equipped with quick-change modules. The assembly fixtures are mounted on the upper positioners, the lower positioners, and the end effectors of the robots through the quick-change modules. The quick-change modules can quickly switch and fix multiple assembly fixtures to form different assembly scene layouts.

[0005] In some embodiments, the aircraft component is a door assembly, which includes a door shape, four sets of stop blocks, and two sets of double-eared holes. The assembly fixture includes two stop block positioners and two double-ear hole positioners. The two double-ear hole positioners are disposed on the two lower positioners of the front lower crossbeam, and the double-ear hole positioners are correspondingly connected to the double-ear holes. The two stop block positioners are disposed on the two lower positioners of the rear lower crossbeam, and the two stop block positioners are correspondingly connected to the two sets of stop blocks behind the hatch.

[0006] In some embodiments, the aircraft component includes a panel assembly comprising a skin, a stringer, and a frame. The skin includes an inner skin shape and skin lug holes. The assembly fixture includes four clamping modules and an end-effector positioning module. The clamping module includes a base, a suction cup assembly, a stringer flexible positioner, and a frame positioner. The base is correspondingly connected to one upper positioner and another lower positioner. The suction cup assembly, the stringer flexible positioner, and the frame positioner are all disposed on the base. The frame positioner positions the positioning holes on the frame. The stringer flexible positioner positions the stringer. The suction cup assembly can fix the inner skin shape. The end-effector positioning module is disposed at the end of the robot. The end-effector positioning module includes a stringer clamping device, a stringer surface positioning block, and skin lug hole positioning pins. The stringer surface positioning block is used to position the stringer. The skin lug hole positioning pins are used to position and fix the skin lug holes. The stringer clamping device is used to clamp the stringer.

[0007] In some embodiments, the two outer card plate modules are equipped with two frame locators and three suction cup assemblies, while the two middle card plate modules are equipped with two frame locators, two suction cup assemblies, and four stringer flexible locators.

[0008] In some embodiments, the aircraft component further includes a fuselage section comprising four panel assemblies and a floor beam assembly, wherein the panel assemblies are equipped with panel support joints; the assembly fixture includes a floor joint and panel support ball joints, and the dynamic positioner supports the panel support joints via the panel support ball joints, thereby supporting the panel assemblies; the floor joints are located at the end of the robot, and the floor beam assembly is clamped by the floor joints at both ends of the robot end for attitude adjustment and positioning.

[0009] In some embodiments, the aircraft components also include a fuselage section and a wing. The fuselage section is provided with a fuselage support joint, and the wing is provided with a wing support joint. The assembly fixture includes a fuselage support ball joint, a wing support ball joint, and a wing joint connecting rod. The fuselage support ball joint is disposed on the four lower locators at the middle of the two lower crossbeams to support the fuselage support joint, thereby supporting the fuselage section. The wing support ball joint is disposed on one lower locator at the outermost position of the rear lower crossbeam and two lower locators at the outermost position of the front lower crossbeam. The wing joint connecting rod connects the outermost lower locator at the front lower crossbeam and the corresponding lower locator at the rear lower crossbeam to support the wing support joint, thereby supporting the wing.

[0010] In some embodiments, the base frame further includes columns, upper support beams, and ground tracks. There are at least four columns, positioned at the four corners of the base frame. There are at least two upper support beams, spaced apart at the top of the columns along the Y-axis. There are at least two ground tracks, spaced apart between the columns along the Y-axis. An upper crossbeam is movably mounted on the upper support beams along the X-axis. A lower crossbeam is movably mounted on the ground tracks along the X-axis.

[0011] In some embodiments, both the ground track and the upper support beam are equipped with a first gear and rack transmission mechanism, through which the lower crossbeam and the upper crossbeam move in the X-axis direction; the lower crossbeam and the upper crossbeam are equipped with a second gear and rack transmission mechanism, through which the upper positioner and the lower positioner move in the Y-axis direction; the upper positioner and the lower positioner are equipped with a first nut and screw mechanism, through which the upper positioner and the lower positioner move in the Z-axis direction. And / or, the lower positioner is further provided with a second nut screw mechanism, through which the lower positioner moves in the X-axis direction.

[0012] In some embodiments, the dynamic positioner includes 8 upper positioners and 10 lower positioners, with 4 upper positioners provided on each upper crossbeam, 4 lower positioners provided on one lower crossbeam, and 6 lower positioners provided on another lower crossbeam; The two robots are respectively positioned at the midpoint of both sides of the lower crossbeam in the Y-axis direction.

[0013] In some embodiments, the quick-change module includes an installation part and a fixing part. The installation part is installed on the dynamic positioner, and the fixing part is provided with a first fixing hole and a second fixing hole spaced apart for fixing the assembly fixture.

[0014] Compared with the prior art, the flexible tooling platform for multi-level automated assembly of aircraft provided by the present invention has at least one of the following beneficial effects: 1. The upper and lower crossbeams are movable along the X-axis, and the upper and lower positioners are movable along the Y and Z axes, respectively. This enables various single-axis and multi-axis movements, forming different assembly scenario layouts and realizing multi-level automated assembly of the dynamic positioner. At this time, different assembly fixtures can be installed on the dynamic positioner to form specific assembly scenarios and assemble various aircraft parts. This not only reduces the assembly process but also saves assembly costs and time.

[0015] 2. The lower positioner moves along the ground track in the Y-axis direction through the second gear and rack transmission mechanism to achieve coarse positioning of the lower positioner as a whole; the X-axis movement and Z-axis lifting of the lower positioner are driven by the first nut screw mechanism and the second nut screw mechanism, respectively. At this time, the lower positioner has the ability to move in the three directions of X-axis, Y-axis and Z-axis with high precision, which can adjust the posture and position more accurately.

[0016] 3. The ground tracks on both sides of the Y-axis are equipped with the first gear and rack transmission mechanism, which can drive the lower crossbeam to move along the X-axis direction; the ground track in the middle can support the lower crossbeam, prevent the lower crossbeam from deforming, and increase the stability of the lower crossbeam.

[0017] 4. The upper positioner, lower positioner, and robot end effector are equipped with quick-change modules, which can quickly switch assembly tooling for various typical assembly scenarios, greatly improving assembly efficiency.

[0018] 5. Each upper crossbeam is equipped with 4 upper positioners, one lower crossbeam is equipped with 4 lower positioners, and another lower crossbeam is equipped with 6 lower positioners, which can adapt to most assembly scenario layouts, improve the application range of the flexible tooling platform, and increase its practicality. Attached Figure Description

[0019] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of the present invention.

[0020] Figure 1 This is an overall diagram of a flexible tooling platform used for multi-level automated assembly of aircraft. Figure 2 This is a structural diagram of the matrix framework; Figure 3 This is a structural diagram of the upper positioner; Figure 4 This is a structural diagram of the lower positioner; Figure 5 This is a structural diagram of the quick-switch module; Figure 6 This is the structural diagram of the lower crossbeam; Figure 7 This is a diagram of the robot's structure; Figure 8 It is an installation diagram of the hatch assembly; Figure 9 This is an installation diagram of the wall panel assembly; Figure 10 This is a structural diagram of the cardboard module; Figure 11 It is an installation diagram of the fuselage section; Figure 12 It is an installation diagram showing the docking and assembly of the fuselage section and the wing.

[0021] Explanation of icon numbers: The system comprises: a base frame 1, an upper crossbeam 11, a first gear and rack transmission mechanism 111, a lower crossbeam 12, a column 13, an upper support beam 14, a ground track 15, a dynamic positioner 2, an upper positioner 21, a quick-change module 211, a first nut and screw mechanism 212, a second gear and rack transmission mechanism 213, a second nut and screw mechanism 214, a lower positioner 22, a robot 23, a robot body 231, a robot base 232, an end effector 233, a stringer clamping device 2331, a skin ear hole positioning pin 2332, a stringer surface positioning block 2333, an assembly fixture 3, and a stop block positioner 341. Double-ear plate hole locator 342, clamping plate module 351, base 3511, suction cup assembly 3512, stringer flexible locator 3513, frame locator 3514, floor joint 361, wall panel support joint 362, wall panel support ball head 363, fuselage support joint 371, fuselage support ball head 372, wing support joint 381, wing support ball head 382, ​​wing joint connecting rod 383, door assembly 4, door shape 41, stop block 42, double-ear plate hole 43, wall panel assembly 5, skin 51, stringer 52, frame 53, fuselage tube section 6, floor beam assembly 61, fuselage section 7, wing 8. Detailed Implementation

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0023] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0024] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0025] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0027] refer to Figure 1 , Figure 2 as well as Figure 8 This invention provides a flexible tooling platform for multi-level automated assembly of aircraft. The flexible tooling platform includes a base frame 1, dynamic positioners 2, and assembly tooling 3. The base frame 1 includes at least two upper crossbeams 11 and at least two lower crossbeams 12, which are spaced apart along the X-axis and are movable along the X-axis. The dynamic positioners 2 include a plurality of upper positioners 21 and a plurality of lower positioners 22, which are movably mounted on the upper crossbeams 11 along the Y-axis and on the lower crossbeams 12 along the Y-axis. Both the upper and lower positioners 21 are movable along the Z-axis. The assembly tooling 3 is mounted at the ends of the upper positioners 21 and / or the lower positioners 22 for fixing aircraft components.

[0028] In this embodiment, the upper crossbeam 11 and the lower crossbeam 12 are movable along the X-axis, which in turn drives the upper positioner 21 and the lower positioner 22 to move along the X-axis. The upper positioner 21 and the lower positioner 22 are movable along the Y-axis and Z-axis, which can realize various single-axis and multi-axis movements of the dynamic positioner 2, forming different assembly scene layouts and realizing multi-level automated assembly of the dynamic positioner 2. At this time, different assembly fixtures 3 are installed on the dynamic positioner 2 to form specific assembly scenes and assemble various aircraft parts. This not only reduces the assembly process, but also saves assembly costs and time.

[0029] It is worth noting that the X-axis is the front-to-back direction of the flexible tooling platform, the Y-axis is the left-to-right direction of the flexible tooling platform, and the Z-axis is the up-to-down direction of the flexible tooling platform.

[0030] Further, refer to Figure 2 The base frame 1 also includes columns 13, upper support beams 14, and ground tracks 15. There are at least four columns 13, which are located at the four corners of the base frame 1. There are at least two upper support beams 14, which are spaced apart on top of the columns 13 along the Y-axis. There are at least two ground tracks 15, which are spaced apart between the columns 13 along the Y-axis. The upper crossbeam 11 is movably mounted on the upper support beam 14 along the X-axis. The lower crossbeam 12 is movably mounted on the ground track 15 along the X-axis.

[0031] In this embodiment, the base frame 1 is the supporting base of the entire flexible tooling platform, and the dynamic positioner 2 and the typical assembly tooling 3 are both installed on the base frame 1 for motion positioning.

[0032] Specifically, four columns 13 are erected at the four corners of the flexible tooling platform, with their lower ends connected to steel plates embedded in the foundation by bolts. These columns support the upper support beam 14 and the upper crossbeam 11. Each column 13 is 4.5 meters high, with a ground projection of 1.5 meters long and 0.5 meters wide. Further detailed design will consider the stability of the entire base frame 1, and will appropriately add reinforcing ribs in the same direction as the upper crossbeam 11.

[0033] Further, refer to Figures 3 to 6 Both the ground track 15 and the upper support beam 14 are equipped with a first gear and rack transmission mechanism 111, through which the lower crossbeam 12 and the upper crossbeam 11 move in the X-axis direction; the lower crossbeam 12 and the upper crossbeam 11 are equipped with a second gear and rack transmission mechanism 213, through which the upper positioner 21 and the lower positioner 22 move in the Y-axis direction; the upper positioner 21 and the lower positioner 22 are equipped with a first nut and screw mechanism 212, through which the upper positioner 21 and the lower positioner 22 move in the Z-axis direction.

[0034] In this embodiment, the lower crossbeam 12 moves along the Y-axis on the ground track 15 via the first gear and rack transmission mechanism 111, completing the overall coarse positioning of all the lower positioners 22 on the lower crossbeam 12. Each group of lower positioners 22 moves along the Y-axis and Z-axis respectively via the second gear and rack transmission mechanism 213 and the first nut screw mechanism 212, completing the precise attitude adjustment and positioning of the lower positioner 22. Preferably, the lower positioner 22 can also move along the X-axis. The lower positioner 22 is also provided with a second nut screw mechanism 214, through which the lower positioner 22 moves along the X-axis. When the lower crossbeam 12 moves along the X-axis and drives the lower positioner 22 for coarse positioning, the lower positioner 22 can still move along the X-axis, Y-axis, and Z-axis respectively via the second nut screw mechanism 214, the second gear and rack transmission mechanism 213, and the first nut screw mechanism 212. At this time, the lower positioner 22 has the ability to move along the X-axis alone, enabling more precise attitude adjustment and positioning.

[0035] At this time, the upper crossbeam 11 also moves along the upper support beam 14 in the Y-axis direction through the first gear and rack transmission mechanism 111, completing the overall coarse positioning of all the upper positioners 21 on the upper crossbeam 11. The upper positioner 21 moves in the Y-axis and Z-axis directions through the second gear and rack transmission mechanism 213 and the first nut screw mechanism 212, completing the precise attitude adjustment and positioning of the upper positioner 21. At this time, the upper positioner 21 does not have the ability to move independently in the X-axis direction. It is worth noting that, according to actual usage requirements, there are few scenarios where the upper positioner 21 component moves independently in the X-axis direction. Therefore, this application does not realize that the upper positioner 21 can move in the X-axis direction. However, in the modified embodiment, the upper positioner 21 can also move along the X-axis direction to achieve precise attitude adjustment and positioning in the X-axis direction. That is, the upper positioner 21 can also be provided with a second nut screw mechanism 214, which is still within the protection scope of this application.

[0036] It is worth noting that guide rails are provided on the upper crossbeam 11, the lower crossbeam 12, and the upper support beam 14 for the movement of the upper positioner 21, the lower positioner 22, and the upper crossbeam 11. The first gear and rack transmission mechanism 111, the second gear and rack transmission mechanism 213, the first nut and screw mechanism 212, and the second nut and screw mechanism 214 are all commonly used moving mechanisms in the art, and will not be described further here.

[0037] Furthermore, there are three ground tracks 15. The ground tracks 15 on both sides of the Y-axis are equipped with a first gear and rack transmission mechanism 111. The lower crossbeam 12 and the upper crossbeam 11 move in the X-axis direction through the first gear and rack transmission mechanism 111.

[0038] In this embodiment, the ground tracks 15 on both sides are equipped with a first gear and rack transmission mechanism 111, and the lower crossbeam 12 moves in the X-axis direction through the first gear and rack transmission mechanism 111; the ground track 15 in the middle can support the lower crossbeam 12, prevent the lower crossbeam 12 from deforming, and increase the stability of the lower crossbeam 12.

[0039] Specifically, the ground track 15 mainly supports the lower crossbeam 12 and other components mounted on it, and the lower crossbeam 12 moves along the X-axis on the ground track 15. Two ground tracks 15 on either side of the Y-axis are equipped with a first gear and rack transmission mechanism 111, enabling the lower crossbeam 12 to move along the X-axis. The middle ground track 15 primarily serves a supporting function to prevent deformation caused by excessive span.

[0040] Furthermore, considering the large span of the upper crossbeam 11, in order to ensure the stability of the movement of the upper positioner 21 of the dynamic positioner 2, two sets of guide rails are set on the upper crossbeam 11: one set is located on the upper surface of the upper crossbeam 11 as the main guide rail, which cooperates with the second gear and rack transmission mechanism 213 to make the upper positioner 21 move along the Y-axis direction on the upper crossbeam 11; the other set is located on the side of the upper crossbeam 11 as the auxiliary guide rail, which cooperates with the main guide rail. While the upper positioner 21 moves along the Y-axis direction, the side guide rail plays a locking role in the X-axis and Z-axis directions to ensure the stability of the movement of the upper positioner 21 in the Y-axis direction.

[0041] Further, refer to Figure 5 The upper positioner 21, the lower positioner 22, and the end of the robot 23 are also equipped with a quick-change module 211, which can switch between and fix various assembly fixtures 3.

[0042] In this embodiment, the upper locator 21, the lower locator 22 and the end of the robot 23 are equipped with a quick-change module 211, which can quickly switch the assembly tooling 3 for various typical assembly scenarios, greatly improving assembly efficiency.

[0043] Specifically, the quick-change module 211 includes a mounting part and a fixing part. The mounting part is installed on the dynamic positioner, and the fixing part has a first fixing hole and a second fixing hole spaced apart for fixing the assembly tooling. The quick-change module 211 adopts a double-hole pin quick-release method, with one hole for positioning and one hole for locking. It is worth noting that the quick-change module 211 includes, but is not limited to, the double-hole pin quick-release method, and also includes other methods, all of which are existing technologies in the art and will not be further described in this invention. The quick-change module 211 is installed on the lower positioner 22, the upper positioner 21, and the end of the robot 23, and moves with the lower positioner 22, the upper positioner 21, and the robot 23.

[0044] Furthermore, the dynamic positioner 2 includes 8 upper positioners 21 and 10 lower positioners 22. Each upper crossbeam 11 is provided with 4 upper positioners 21, one lower crossbeam 12 is provided with 4 lower positioners 22, and another lower crossbeam 12 is provided with 6 lower positioners 22.

[0045] In this embodiment, each upper crossbeam 11 is provided with 4 upper positioners 21, one lower crossbeam 12 is provided with 4 lower positioners 22, and another lower crossbeam 12 is provided with 6 lower positioners 22. This can adapt to most assembly scenario layouts, improve the application range of the flexible tooling platform, and increase its practicality.

[0046] Specifically, the lower positioner 22 of the dynamic positioner 2 is installed on the lower crossbeam 12. Based on the actual needs of a typical assembly scenario, four lower positioners 22 are installed on one lower crossbeam 12, and six lower positioners 22 are installed on another lower crossbeam 12. The lower crossbeam 12 moves along the ground track 15 in the X-axis direction, and the lower positioners 22 in the dynamic positioner 2 move along the lower crossbeam 12 in the Y-axis direction. The lower crossbeam 12 adopts a first gear and rack transmission mechanism 111 and is equipped with a high-precision grating ruler to achieve high-precision movement of the 4-6 positioner components on each lower crossbeam 12 without interference. The upper positioner 21 of the dynamic positioner 2 is installed on the upper crossbeam 11 and moves along the Y-axis direction on the upper crossbeam 11. Based on the actual needs of a typical assembly scenario, four upper positioners 21 are installed on each upper crossbeam 11. It is worth noting that this arrangement of the dynamic locator 2 is a preferred embodiment of the present invention, but it should include, but is not limited to, this embodiment. Different numbers of upper locators 21 and lower locators 22 and other arrangements of the dynamic locator 2 are all within the protection scope of the present invention.

[0047] Furthermore, the dynamic positioner 2 also includes two robots 23, which are respectively positioned at the middle of both sides of the lower crossbeam 12 in the Y-axis direction.

[0048] In this embodiment, robot 23 is placed at the center of the left and right sides of the flexible tooling platform, and its end effector is equipped with a positioning and assembly structure. Simultaneously, the end effector of robot 23 can also employ a quick-change module 211 identical to the dynamic positioner 2. Different quick-change modules 211 can be switched according to different assembly scenarios to achieve positioning of different component features.

[0049] Specifically, refer to Figure 7 The robot 23 includes a robot base 232, a robot body 231, and an end-positioning module 233. The robot base 232 is located at the center of the left and right sides of the flexible tooling platform. The robot body 231 is movably mounted on the robot base 232, and the end-positioning module 233 is mounted at the end of the robot body 231.

[0050] Furthermore, the flexible tooling platform also includes a control console, within which different assembly modes can be selected.

[0051] Further, refer to Figure 8 The aircraft component is the door assembly 4, which includes a door outline 41, four sets of stop blocks 42, and two sets of double-ear holes 43. The assembly fixture 3 includes two stop block positioners 341 and two double-ear hole positioners 342. The two double-ear hole positioners 342 are set on the two lower positioners 22 of the front lower crossbeam 12, and the double-ear hole positioners 342 are correspondingly connected to the double-ear holes 43. The two stop block positioners 341 are set on the two lower positioners 22 of the rear lower crossbeam 12, and the two stop block positioners 341 are correspondingly connected to the two sets of stop blocks 42 behind the door outline 41.

[0052] Specifically, the stop block positioner 341 uses a bushing and pin engagement method. The stop block positioner 341 includes a first fixing block and a second fixing block. The first fixing block has a fixing groove suitable for inserting the quick-change module 211 of the lower positioner 22, and is then fixed by a pin. The second fixing block is fixedly connected to the first fixing block, with one end fixedly connected to the stop block 42 and the other end connected to the first fixing block. The double-ear hole positioner 342 includes a first fixing block and a third fixing block, with the third fixing block matching the double-ear hole 43. When the hatch assembly 4 needs to be assembled, the hatch assembly mode is selected in the control system. The control system issues instructions to the four pre-allocated dynamic positioners 2 to support the hatch assembly module. After the four lower positioners 22 move into position, they are fixed and locked. The hatch assembly 4 and the assembly fixture 3 are connected through the stop block positioner 341 and the double-ear hole positioner 342, completing rapid switching and positioning. The assembly process of hatch assembly 4 is as follows: Step 1: Select hatch assembly as the assembly scenario in the control system interface; Step 2: The control system drives the two lower crossbeams 12 and the four lower positioners 22 on the lower crossbeams 12 to the theoretical position of the hatch assembly scenario, and moves the other dynamic positioners 2 and the upper crossbeam 11 that do not participate in this scenario to the open position; Step 3: Install the two double-ear hole positioners 342 on the two lower positioners 22 of the front lower crossbeam 12, and install the two stop block positioners 341 on the two lower positioners 22 of the rear lower crossbeam 12; Step 4: Assemble and debug hatch assembly 4 on the rack; Step 5: After the hatch assembly is completed, the hatch is removed from the rack; Step 6: Remove the double-ear hole positioners 342 and the stop block positioners 341; Step 7: Return each lower positioner 22, the upper crossbeam 11 and the lower crossbeam 12 to the zero position, and the assembly is completed. It is worth noting that some hatches do not have a stop block 42, and the stop needs to be positioned according to the hatch shape 41.

[0053] In a modified embodiment, the aircraft component is a door assembly 4, which includes a door profile 41, four sets of stop blocks 42, and two sets of double-ear holes 43. The assembly fixture 3 includes two side beams, each side beam being connected to two lower locators 22 on the upper part of the two lower crossbeams 12. Each side beam is provided with two stop block locators 341, one double-ear hole locator 342, and a profile clamping plate. The profile clamping plate matches the door profile 41. The double-ear hole locator 342 is used to position the double-ear holes 43, and the stop block locator 341 is used to position the stop blocks 42.

[0054] Further, refer to Figure 7 , Figure 9 as well as Figure 10 The aircraft component is a panel assembly 5, which includes a skin 51, a stringer 52, and a frame 53. The skin 51 includes an inner skin shape and skin lug holes. The assembly fixture 3 includes four clamping modules 351 and an end-positioning module 233. The clamping module 351 includes a base 3511, a suction cup assembly 3512, a stringer flexible positioner 3513, and a frame positioner 3514. The base 3511 is correspondingly connected to an upper positioner 21 and a corresponding lower positioner 22. The suction cup assembly 3512, the stringer flexible positioner 3513, and the frame positioner 3514 are all located on the base 3511. On 511, the frame locator 3514 positions the positioning holes on the frame 53; the stringer flexible locator 3513 positions the stringer 52; the suction cup assembly 3512 can fix the inner shape of the skin; the end positioning module 233 is set at the end of the robot 23, and the end positioning module 233 includes a stringer clamp 2331, a stringer surface positioning block 2333, and a skin ear hole positioning pin 2332. The stringer surface positioning block 2333 is used to position the stringer 52; the skin ear hole positioning pin 2332 is used to position and fix the skin ear hole; the stringer clamp 2331 is used to clamp the stringer 52.

[0055] Specifically, the positioning features of the wall panel assembly 5 are the standing surface of the frame 53, the inner shape of the skin, the position of the stringer 52, and the ear holes of the skin. The wall panel assembly fixture 3 module consists of four clamping plate modules 351 and two end-positioning modules 233 at the ends of the robots 23. Each clamping plate module 351 includes a base 3511, a suction cup assembly 3512, a stringer flexible positioner 3513, and a frame positioner 3514. The base 3511 is equipped with an upper positioner 21 and a lower positioner 22, which are correspondingly connected. The upper crossbeam 11, the lower crossbeam 12, and the dynamic positioner 2 drive the positioning of the standing surface and the forward and backward movement of the frame 53. The frame positioner 3514 is driven by a motor to position the positioning block to adapt to wall panels with different arch heights. The positioning block has positioning holes that correspond to the positioning holes on the frame 53. The stringer flexible positioner 3513 is driven by two sets of small motors to extend and retract the clamping module and swing downward to adapt to the position of the stringer 52 of the wall panel with different arch heights. Driven by an electric cylinder, the suction cup assembly 3512 adapts to the different internal shapes of the wall panel assembly 5. The robots 23 at both ends position the stringer 52 by using stringer surface positioning blocks 2333; position and fix the skin ear holes by using skin ear hole positioning pins 2332; and press the stringer 52 by using stringer clamping device 2331.

[0056] It is worth noting that, in order to ensure the completion of the wall panel assembly 5 and the optimization of the flexible tooling platform, the number of stringers 52 and frames 53 of the wall panel simulation component is set to 4.

[0057] Furthermore, two frame positioners 3514 and three suction cup assemblies 3512 are installed on the two outer plate modules 351, and two frame positioners 3514, two suction cup assemblies 3512 and four stringer flexible positioners 3513 are installed on the two middle plate modules 351.

[0058] Specifically, according to the assembly process of panel assembly 5, the four sets of clamping modules 351 first complete the positioning of frame 53, and the stringer 52 is pre-fixed to frame 53 after being put on the frame. Then, when the skin 51 is put on the frame, the skin ear hole positioning pins 2332 of robot 23 position the skin ear holes, and at the same time, the suction cup assembly 3512 cooperates with the already positioned frame 53 to complete the internal shape positioning of the skin. Finally, the stringer flexible positioner 3513 completes the positioning and clamping of stringer 52. After the skin ear hole positioning is completed, the robots 23 at both ends can use the stringer surface positioning blocks 2333 to participate in the positioning of stringer 52, thus reducing the number of stringer flexible positioners 3513 at both ends of the clamping modules 351, and using the two sets of stringer flexible positioners 3513 in the middle for auxiliary positioning. The stringer clamping devices 2331 at both ends can be changed to manually adjustable clamping devices to fix stringer 52. At this time, the two inner clamping modules 351 are equipped with stringers 52, frames 53 and skin 51; the two outer clamping modules 351 are equipped with frames 53 and skin 51 and the stringers 52 are positioned and pressed by the end positioning module 233 of the robot 23.

[0059] The assembly process of panel assembly 5 is as follows: Step 1: Select the assembly scene of panel assembly 5 in the control system; Step 2: The control system drives the upper beam 11, lower beam 12, dynamic positioner 2 and robot 23 to the theoretical position of the panel assembly scene, and the other dynamic positioners 2, upper beam 11 and lower beam 12 that do not participate in this scene are moved to the open position; Step 3: Install the four clamping modules 351 of the panel assembly scene of panel assembly 5 onto the corresponding four sets of upper positioners 21 and lower positioners 22 of upper beam 11 and lower beam 12 to form flexible tooling for panel assembly; Step 4: Connect the Harding connector of the clamping module 351 and power and ventilate the clamping module 351. Select panel assembly type 5, and drive frame locator 3514, stringer flexible locator 3513, and suction cup assembly 3512 to the theoretical position; Step 5: Frame 53 is mounted, and frame locator 3514 positions frame 53; Step 6: Stringer 52 is mounted for pre-assembly, and stringer 52 is pre-fixed by stringer flexible locator 3513 at the end of middle clamping plate module 351; Step 7: Skin 51 is mounted, and the end positioning modules 233 of robots on both sides position the skin ear holes through skin ear hole positioning pins 2332. Suction cup assembly 3512 completes the inner shape positioning of skin and suctions skin 51. Skin 51 is fixedly connected to frame 53, and the outer side is fixed by binding auxiliary; Step 8: Step 9: The end-positioning module 233 of the two side robots and the stringer flexible positioner 3513 of the middle clamping module 351 sequentially complete the end face and axis positioning of the four stringers 52, and the stringers 52 are fixedly connected to the skin 51 and the frame 53; Step 10: The wall panel assembly 5 completes the assembly positioning, the robot 23 returns to its position, and the end-positioning module 233 is removed; Step 11: The wall panel assembly 5 is removed from the shelf; Step 12: The frame positioner 3514, stringer flexible positioner 3513 and suction cup assembly 3512 on the clamping module 351 return to the zero position, the Harding joint is disconnected, and the clamping module 351 is removed; Step 13: The upper crossbeam 11, lower crossbeam 12 and dynamic positioner 2 return to the zero position, and the wall panel assembly scene ends.

[0060] Further, refer to Figure 11 The aircraft component is the fuselage section 6, which includes four panel assemblies 5 and a floor beam assembly 61. The panel assembly 5 is equipped with a panel support joint 362. The assembly fixture 3 includes a floor joint 361 and a panel support ball head 363. The dynamic positioner 2 supports the panel support joint 362 through the panel support ball head 363, thereby supporting the panel assembly 5. The floor joint 361 is located at the end of the robot 23. The floor beam assembly 61 is clamped by the floor joints 361 at both ends of the robot 23 to complete the attitude adjustment and positioning.

[0061] Specifically, each wall panel assembly 5 is fixedly connected by four dynamic positioners 2 through connecting fixtures such as wall panel support joints 362, and completes attitude adjustment and positioning under the drive of the control system. The floor beam assembly 61 is gripped by the end effectors of the robots 23 at both ends for attitude adjustment and positioning. The four wall panel assemblies 5 are connected and positioned through frames 53 and skins 51 to form a circular cylindrical section. The floor beam assembly 61 is attitude adjusted and positioned with the lower wall panel assembly 5 through the reference holes of the slide rails. During initial assembly, the upper wall panel assembly 5 is mounted by four upper positioners 21 on the upper crossbeam 11. Finally, the total load of the assembled body cylindrical section 6 and the lower wall panel support joints 362 is entirely borne by the eight lower positioners 22 on the lower crossbeam 12.

[0062] The assembly process for the fuselage section 6 is as follows: Step 1: Select the assembly scenario as section assembly in the control system interface; Step 2: The control system drives all dynamic positioners 2 of the upper crossbeam 11 and lower crossbeam 12 to the position on the section assembly wall panel. The robot 23 installs the floor connector 361 at its end; Step 3: Except for the two outermost positioners of the lower crossbeam 12 at the rear, the other eight lower positioners 22 install the wall panel support connectors 362; Step 4: Install and adjust the bottom wall panel, left wall panel, floor, top wall panel, and right wall panel with the wall panel support connectors 362 in sequence; Step 5: The section is assembled, the upper wall panel support ball head 363 is disconnected from the upper positioner 21, the floor connector 361 is released, and the robot 23 returns to its position; Step 6: The section is removed, all wall panel support ball heads 363 are disassembled, the positioners are reset, and the section assembly scenario ends.

[0063] Further, refer to Figure 12 The aircraft components are fuselage section 7 and wing 8. The fuselage section 7 is equipped with fuselage support joint 371, and the wing 8 is equipped with wing support joint 381. The assembly fixture 3 includes fuselage support ball joint 372, wing support ball joint 382, ​​and wing joint connecting rod 383. The fuselage support ball joint 372 is set on the four lower locators 22 in the middle of the two lower crossbeams 12 to support the fuselage support joint 371, thereby supporting the fuselage section 7. The wing support ball joint 382 is set on the outermost lower locator 22 of the rear lower crossbeam 12 and the two outermost lower locators 22 of the front lower crossbeam 12. The wing joint connecting rod 383 connects the outermost lower locator 22 of the front lower crossbeam 12 and the other corresponding lower locator 22 of the rear lower crossbeam 12 to support the wing support joint 381, thereby supporting the wing 8.

[0064] Specifically, the final assembly of fuselage section 7 and wing 8 only requires the use of the lower positioner 22 of the lower crossbeam 12. During attitude adjustment and docking of the two fuselage sections 7, except for the lower positioners 22 at the very ends of the rear lower crossbeam 12, the remaining eight positioner assemblies are divided into two groups, left and right, each group supporting one fuselage section 7. When fuselage section 7 and wing 8 are docked, all ten positioners on the lower crossbeam 12 participate in attitude adjustment and docking. The four groups of lower positioners 22 in the middle of the front and rear lower crossbeams 12 support the fuselage section 7. The outermost lower positioner 22 of the front lower crossbeam 12 and the two outermost lower positioners 22 of the rear lower crossbeam 12 jointly support one side of the wing 8. The wing joint connecting rod 383 connects the outermost lower positioner 22 of the front lower crossbeam 12 to the corresponding lower positioner 22 of the rear lower crossbeam 12.

[0065] The assembly process for fuselage section 7 is as follows: Step 1: Select fuselage section 7 docking assembly as the assembly scenario in the control system interface; Step 2: The control system drives the eight lower positioners 22 on the lower crossbeam 12 to the theoretical mounting position of fuselage section 7 in the fuselage section 7 docking assembly scenario, and moves other positioners and crossbeams not involved in this scenario to the open position; Step 3: Install the eight fuselage support ball heads 372 onto the eight lower positioners 22; Step 4: Mount two fuselage sections 7, each equipped with four fuselage support joints 371, onto the lower positioners 22, with the fuselage support ball heads 372 supporting the fuselage support joints 371; Step 6: Remove fuselage section 7 and remove the fuselage support ball heads 372; Step 7: Return the lower crossbeam 12 and lower positioners 22 to the zero position, and the fuselage section 7 docking assembly scenario ends.

[0066] Wing 8 docking assembly process: Step 1: Select the assembly scenario as wing 8 docking assembly in the control system interface; Step 2: The control system drives all 10 lower positioners 22 on the lower crossbeam 12 to the theoretical mounting position of the wing 8 docking assembly scenario, while the other upper crossbeams 11 and upper positioners 21 not involved in this scenario are moved to the open position; Step 3: Install the 4 fuselage support ball joints 372 and the 6 wing support ball joints 382 onto the 10 lower positioners 22, and install the 2 wing joint connecting rods 383; Step 4: Mount the fuselage section 7, starting from the 4 middle lower positioners. Step 5: The left outer wing is mounted on the frame, supported by the three lower locators 22 on the right side. After attitude adjustment, it is fixed after docking with the fuselage section 7. Step 6: The right outer wing is mounted on the frame, supported by the three lower locators 22 on the left side. After attitude adjustment, it is fixed after docking with the fuselage section 7. Step 7: The attitude adjustment and docking of the wing 8 are completed, and the docking section of the wing 8 is removed from the frame. Step 8: Remove all fuselage support ball joints 372, wing support ball joints 382, ​​and wing joint connecting rods 383. The lower locators 22 and the lower crossbeam 12 are returned to the zero position, and the docking assembly scene of the wing 8 is completed.

[0067] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A flexible tooling platform for multi-level automated assembly of aircraft, characterized in that, include: A base frame, the base frame including at least two upper crossbeams and at least two lower crossbeams, the upper crossbeams and the lower crossbeams being spaced apart along the X-axis direction, and the upper crossbeams and the lower crossbeams being movable along the X-axis direction; A dynamic locator includes several upper locators, several lower locators, and several robots. The upper locators are movably mounted on the upper crossbeam along the Y-axis, and the lower locators are movably mounted on the lower crossbeam along the Y-axis. Both the upper and lower locators are movable along the Z-axis. The robots are respectively arranged on both sides of the lower crossbeam along the Y-axis. The upper locators, lower locators, and the end effectors of the robots are all equipped with quick-change modules. The assembly fixture is installed on the upper locator, the lower locator, and the robot end effector via the quick-change module. The quick-change module can quickly switch between and fix multiple assembly fixtures to form different assembly scene layouts. The aircraft component includes a door assembly, which includes a door profile, four sets of stop blocks, and two sets of double-ear slots. The assembly fixture includes two stop block positioners and two double-ear slot positioners. The two double-ear slot positioners are disposed on two lower positioners on the front lower crossbeam, and the double-ear slot positioners are correspondingly connected to the double-ear slots. The two stop block positioners are disposed on two lower positioners on the rear lower crossbeam, and the two stop block positioners are correspondingly connected to two sets of stop blocks behind the door profile. The aircraft component also includes a panel assembly, which includes a skin, a stringer, and a frame. The skin includes an inner skin shape and skin lug holes. The assembly tooling also includes four clamping modules and an end-positioning module. The clamping module includes a base, a suction cup assembly, a stringer flexible positioner, and a frame positioner. The base is correspondingly connected to one upper positioner and another lower positioner. The suction cup assembly, the stringer flexible positioner, and the frame positioner are all disposed on the base. The frame positioner positions the positioning holes on the frame. The stringer flexible positioner positions the stringer; the suction cup assembly can fix the inner shape of the skin; the end-effector positioning module is located at the end of the robot, and the end-effector positioning module includes a stringer clamp, a stringer surface positioning block and a skin ear hole positioning pin. The stringer surface positioning block is used to position the stringer; the skin ear hole positioning pin is used to position and fix the skin ear hole; the stringer clamp is used to clamp the stringer.

2. The flexible tooling platform for multi-level automated assembly of aircraft according to claim 1, characterized in that, Two frame locators and three suction cup assemblies are installed on the two outer card plate modules, and two frame locators, two suction cup assemblies and four stringer flexible locators are installed on the two middle card plate modules.

3. The flexible tooling platform for multi-level automated assembly of aircraft according to claim 1, characterized in that, The aircraft component also includes a fuselage section, which comprises four panel assemblies and a floor beam assembly. The panel assemblies are equipped with panel support joints. The assembly fixture includes a floor joint and a panel support ball joint. The dynamic positioner supports the panel support joint through the panel support ball joint, thereby supporting the panel assembly. The floor joint is located at the end of the robot, and the floor beam assembly is clamped by the floor joints at both ends of the robot's end for attitude adjustment and positioning.

4. A flexible tooling platform for multi-level automated assembly of aircraft according to claim 3, characterized in that, The aircraft components also include a fuselage section and a wing. The fuselage section is provided with a fuselage support joint, and the wing is provided with a wing support joint. The assembly fixture includes a fuselage support ball joint, a wing support ball joint, and a wing joint connecting rod. The fuselage support ball joint is located on the four lower positioners at the middle of the two lower crossbeams to support the fuselage support joint, thereby supporting the fuselage section. The wing support ball joint is located on one of the outermost lower positioners of the rear lower crossbeam and two of the outermost lower positioners of the front lower crossbeam. The wing joint connecting rod connects the outermost lower positioner of the front lower crossbeam and the corresponding lower positioner of the rear lower crossbeam, and is used to support the wing support joint, thereby supporting the wing.

5. A flexible tooling platform for multi-level automated assembly of aircraft according to any one of claims 1-4, characterized in that, The base frame also includes columns, upper support beams, and ground tracks. There are at least four columns, which are located at the four corners of the base frame. There are at least two upper support beams, which are spaced apart on the top of the columns along the Y-axis. There are at least two ground tracks, which are spaced apart between the columns along the Y-axis. An upper crossbeam is movably mounted on the upper support beam along the X-axis. A lower crossbeam is movably mounted on the ground tracks along the X-axis.

6. A flexible tooling platform for multi-level automated assembly of aircraft according to claim 5, characterized in that, Both the ground track and the upper support beam are equipped with a first gear and rack transmission mechanism, through which the lower crossbeam and the upper crossbeam move in the X-axis direction; both the lower crossbeam and the upper crossbeam are equipped with a second gear and rack transmission mechanism, through which the upper positioner and the lower positioner move in the Y-axis direction; both the upper positioner and the lower positioner are equipped with a first nut and screw mechanism, through which they move in the Z-axis direction. And / or, the lower positioner is further provided with a second nut screw mechanism, through which the lower positioner moves in the X-axis direction.

7. A flexible tooling platform for multi-level automated assembly of aircraft according to claim 5, characterized in that, The dynamic positioner includes 8 upper positioners and 10 lower positioners. Each upper crossbeam is provided with 4 upper positioners, one lower crossbeam is provided with 4 lower positioners, and another lower crossbeam is provided with 6 lower positioners. The two robots are respectively positioned at the midpoint of both sides of the lower crossbeam in the Y-axis direction.

8. A flexible tooling platform for multi-level automated assembly of aircraft according to claim 1, characterized in that, The quick-change module includes an installation part and a fixing part. The installation part is installed on the dynamic positioner, and the fixing part is provided with a first fixing hole and a second fixing hole spaced apart for fixing the assembly fixture.

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