A flexible machining and inspection integrated system and method for aircraft large parts

Abstract

This invention discloses an integrated system and method for flexible machining and inspection of large aircraft components. It includes an integrated flexible machining and inspection device and at least two sets of flexible attitude adjustment and positioning devices. The integrated flexible machining and inspection device comprises a double-gantry structure, a three-axis motion detection device, and a three-axis motion machining execution device. After the flexible attitude adjustment and positioning device moves to the workstation, it adjusts the attitude of the large component. The three-axis motion detection device detects the machining position parameters on the adjusted large component. The three-axis motion machining execution device processes the large component based on the detection results. The three-axis motion detection device detects the machining and assembly quality parameters of the processed large component. This invention can continuously perform attitude detection, adaptive flexible machining, and assembly quality inspection of large aircraft components. Furthermore, it can precisely adjust the attitude of large aircraft components based on real-time machining and inspection results, improving aircraft assembly quality while reducing labor costs.

Description

Technical Field

[0001] This invention belongs to the technical field of precision machining of parts, and relates to an integrated system and method for flexible machining and inspection of large aircraft components. Background Technology

[0002] Modern aircraft manufacturing technology has been continuously innovated and upgraded as modern aircraft have become increasingly complex. Traditional aircraft manufacturing technology can no longer meet the high-quality and low-cost production requirements of modern aircraft.

[0003] In traditional aircraft assembly and manufacturing processes, after determining the machining location and assembly quality parameters (such as hole drilling location and parameters), an end effector drives the corresponding machining tools to process the large aircraft components. After machining, the machining quality of the large aircraft components is inspected by testing equipment, and re-machining is performed based on the inspection results. This means that the machining, transportation, and inspection of large aircraft components are relatively independent. Frequent transportation during machining and inspection inevitably leads to changes in the position and orientation of the large aircraft components, resulting in errors in the machining quality and inspection results. Accumulated errors can cause the final machining quality and inspection accuracy to fail to meet the final assembly requirements of the large aircraft components, leading to situations where the large aircraft components are assembled out of tolerance or even cannot be assembled at all.

[0004] In view of the above-mentioned problems of existing large component processing systems, this invention discloses a flexible processing and inspection integrated system and method for large aircraft components. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated system and method for flexible processing and inspection of large aircraft components. This system can continuously perform orientation detection, adaptive flexible processing, and assembly quality inspection of large aircraft components. Furthermore, it can precisely adjust the orientation of large aircraft components based on real-time processing and inspection results, thereby improving aircraft assembly quality and reducing labor costs.

[0006] This invention is achieved through the following technical solution:

[0007] A flexible machining and inspection integrated system for large aircraft components includes a flexible machining and inspection integrated device and at least two sets of flexible attitude adjustment and positioning devices that can asynchronously enter and exit the working station of the flexible machining and inspection integrated device. The flexible machining and inspection integrated device includes a double gantry structure, a three-axis moving detection device, and a three-axis moving machining execution device. The three-axis moving detection device and the three-axis moving machining execution device are installed on the double gantry structure. After the flexible attitude adjustment and positioning device moves to the working station, it adjusts the attitude of the large component. The three-axis moving detection device detects the machining position parameters on the large component after attitude adjustment. The three-axis moving machining execution device processes the large component according to the detection results. The three-axis moving detection device detects the machining and assembly quality parameters of the processed large component.

[0008] To better realize the present invention, the three-axis motion detection device further includes a laser displacement detection device and a surface quality measurement device. The laser displacement detection device is used to detect the shape and position parameters of the large component, and the flexible attitude adjustment and positioning device adjusts the attitude of the large component according to the shape and position parameters. The surface quality measurement device is used to detect the processing and assembly quality parameters of the processed large component, and the three-axis motion machining execution device processes the large component according to the processing and assembly quality parameters.

[0009] To better realize the present invention, the three-axis moving machining execution device further includes an end effector, a vacuum dust collection device, a presser foot mechanism, and a machining position detection component. The vacuum dust collection device is located on one side of the end effector. The presser foot mechanism presses the outer surface of the large component together according to the position parameters. The machining position detection component is used to detect the positioning parameters of the large component after orientation adjustment. The end effector selects the corresponding tool according to the machining parameters and performs machining on the large component according to the positioning parameters and machining parameters.

[0010] To better realize the present invention, the machining shape and position detection component further includes a visual inspection camera and a machining displacement sensor. The visual inspection camera is used to detect the hole positions on the large component, and the machining displacement sensor is used to detect the surface curvature and surface normal of the large component.

[0011] To better realize the present invention, it further includes a rotary disc tool magazine, which is located near the execution end of the three-axis moving machining actuator.

[0012] To better realize the present invention, the flexible attitude adjustment and positioning device further includes a linear moving part and a three-coordinate attitude adjuster. The linear moving part is provided with a number of three-coordinate attitude adjusters corresponding to the attitude adjustment connection positions of the large components. The connection end of the three-coordinate attitude adjuster is provided with a ball socket seat, and a ball head locking mechanism is provided on one side of the ball socket seat.

[0013] To better realize the present invention, a three-dimensional force sensor is further provided at the connection end of the three-coordinate attitude adjuster.

[0014] A flexible manufacturing and inspection integrated method for large aircraft components includes the following steps:

[0015] Step 1: Hoist the large component onto the flexible attitude adjustment and positioning device, and adjust the initial attitude of the large component using the three-coordinate attitude adjuster in the flexible attitude adjustment and positioning device;

[0016] Step 2: The flexible attitude adjustment and positioning device moves the large component to the working position of the flexible machining and inspection integrated device. The machining position parameters of the large component are detected once by the three-axis movement detection device. The flexible attitude adjustment and positioning device performs precise attitude adjustment on the large component according to the machining position parameters.

[0017] Step 3: Use a three-axis motion detection device to perform secondary detection of the machining position parameters of the large component, and calculate the machining correction compensation value based on the difference between the secondary detection machining position parameters and the position of the large component after precise orientation adjustment.

[0018] Step 4: Keep the large component fixed. The three-axis moving machining actuator performs adaptive pose adjustment based on the machining position parameters and machining correction compensation values, so that the axis of the end effector in the three-axis moving machining actuator coincides with the normal vector of the hole position on the large component.

[0019] Step 5: The large component is machined by axial feed of the end effector. After the large component is machined, a three-axis motion detection device is used to detect the machining and assembly quality parameters of the machined large component.

[0020] To better realize the present invention, step 5 further includes:

[0021] Step 5.1: Adjust the large component to the detection position using a flexible attitude adjustment and positioning device;

[0022] Step 5.2: Detect the surface curvature and hole position normal of the large component's machining area using the laser displacement detection device in the three-axis motion detection device;

[0023] Step 5.3: The three-axis moving detection device performs adaptive pose adjustment based on the detection results of step 5.3, so that the axis of the surface quality measuring device in the three-axis moving detection device coincides with the normal vector of the hole position on the large component;

[0024] Step 5.4: Use a surface quality measuring device to detect the machining and assembly quality parameters of the machining area on the large component.

[0025] To better realize the present invention, the processing and assembly quality parameters further include hole diameter, recess depth, recess diameter, concave-convex amount of the connection position, and tilt amount of the connection position.

[0026] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0027] (1) The end effector of the three-axis moving machining actuator is equipped with a pressure foot mechanism, which can reduce the gap between the skin skeleton of the large aircraft parts, reduce the error of hole making and improve the stability of the machine tool; a vision inspection camera is set to measure the precise position of the pre-connection positioning hole on the curved surface of the large aircraft parts, and the actual machining position is adjusted according to the position of the pre-connection positioning hole to ensure the accuracy of the actual machining position of the large aircraft parts and improve the quality of the large parts; a vacuum dust collection device is set to fully reduce the damage of machining chips and dust to the outer surface of the large aircraft parts and the impact on the environment, which meets the requirements of green manufacturing.

[0028] (2) Both the three-axis motion detection device and the three-axis motion machining execution device are laser displacement sensors to measure the curvature and normal vector of the area to be processed and the area to be detected, so as to ensure the accuracy of the normal vector for machine tool processing and assembly quality detection and improve the processing quality of large parts;

[0029] (3) Set up a surface quality measuring device to measure the hole diameter, recess diameter and recess depth of the machined area after the large aircraft parts are machined, and to measure the concavity and tilt of the connectors in the assembly area after the large aircraft parts are unloaded and assembled, so as to ensure the quality of the machining and assembly of the large aircraft parts.

[0030] (4) The three-coordinate attitude adjuster in the flexible attitude adjustment and positioning device is equipped with a ball socket and a ball head locking mechanism at the end. The ball head locking mechanism can realize the rapid locking and release of the ball head of the support tooling, stabilize the support tooling, and ensure the stable processing of large aircraft parts; a three-dimensional force sensor is set to monitor the X, Y and Z force values ​​of the large aircraft parts during the processing, determine whether the force of each three-coordinate attitude adjuster exceeds the stability threshold, remind the operator to adjust the attitude of the large aircraft parts, and ensure the stable and reliable processing of the large aircraft parts;

[0031] (5) The integrated control system in the control console controls the multi-axis motion of the three-coordinate attitude adjuster, realizes multi-axis synchronous adjustment of any number of three-coordinate attitude adjusters, supports any attitude, and expands the processing area and application processing scenarios of large aircraft components.

[0032] (6) The flexible attitude adjustment and positioning device can be alternately transferred to the working position of the flexible processing and inspection integrated device to realize the continuous alternation of attitude adjustment, attitude detection, processing and quality inspection of large components, which improves the system utilization rate and meets the needs of pulsed production of large aircraft components. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the integrated flexible processing and testing system.

[0034] Figure 2This is a schematic diagram showing the installation of the three-axis motion detection device and the three-axis motion machining execution device.

[0035] Figure 3 This is a schematic diagram of the structure of a three-axis motion detection device;

[0036] Figure 4 This is a schematic diagram of the structure of a three-axis moving machining actuator;

[0037] Figure 5 Schematic diagram of the flexible attitude adjustment and positioning device

[0038] Figure 6 for Figure 5 A magnified view of part A;

[0039] Figure 7 This is a schematic diagram of a three-axis motion detection device inspecting a large component.

[0040] Figure 8 A schematic diagram of a three-axis motion machining actuator machining a large component;

[0041] Figure 9 This is a flowchart illustrating the integrated method for flexible manufacturing and inspection.

[0042] The components are as follows: 1- Flexible machining and inspection integrated device; 2- Flexible attitude adjustment and positioning device; 3- Three-axis movement detection device; 4- Three-axis movement machining execution device; 5- Rotary disc tool magazine; 21- Linear moving part; 22- Three-coordinate attitude adjuster; 23- Ball socket seat; 24- Ball head locking mechanism; 25- Three-dimensional force sensor; 31- Laser displacement detection device; 32- Surface quality measurement device; 41- End effector; 42- Vacuum dust collection device; 43- Presser foot mechanism; 44- Vision inspection camera; 45- Machining displacement sensor. Detailed Implementation

[0043] The following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is intended to include the plural form as well. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] For ease of description, the words "up," "down," "left," and "right" appearing in this invention only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves, and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] Terminology Explanation: The terms "installation," "connection," "linking," and "fixing" in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Example 1:

[0048] A flexible integrated manufacturing and inspection system for large aircraft components, such as Figures 1-8 As shown, the device includes a flexible machining and inspection integrated device 1 and at least two sets of flexible attitude adjustment and positioning devices 2 that can asynchronously enter and exit the working position of the flexible machining and inspection integrated device 1. The flexible machining and inspection integrated device 1 includes a double gantry structure, a three-axis motion detection device 3, and a three-axis motion machining execution device 4. The three-axis motion detection device 3 and the three-axis motion machining execution device 4 are installed on the double gantry structure. After the flexible attitude adjustment and positioning device 2 moves to the working position, it adjusts the attitude of the large component. The three-axis motion detection device 3 detects the machining position parameters on the large component after attitude adjustment. The three-axis motion machining execution device 4 processes the large component according to the detection results. The three-axis motion detection device 3 detects the machining assembly quality parameters of the processed large component.

[0049] When any set of flexible attitude adjustment and positioning devices 2 drives a large component into the working position of the flexible processing and testing integrated device 1, the remaining flexible attitude adjustment and positioning devices 2 can pre-adjust the attitude of the large component outside the working position of the flexible processing and testing integrated device 1.

[0050] The three-axis motion detection device 3 includes a laser displacement detection device 31 and a surface quality measurement device 32. The laser displacement detection device 31 is used to detect the shape and position parameters of the large component, and the flexible attitude adjustment and positioning device 2 adjusts the attitude of the large component according to the shape and position parameters. The surface quality measurement device 32 is used to detect the machining and assembly quality parameters of the large component after machining, and the three-axis motion machining execution device 4 processes the large component according to the machining and assembly quality parameters. The shape and position parameters include the curvature of the machining area on the large component and the hole position normal. The machining and assembly quality parameters include the hole diameter, hole depth, recess depth, recess diameter, connection position concavity / convexity, and connection position inclination.

[0051] The three-axis moving machining execution device 4 includes an end effector 41, a vacuum dust collection device 42, a presser foot mechanism 43, and a machining position detection component. The vacuum dust collection device 42 is located on one side of the end effector 41. The presser foot mechanism 43 presses the outer surface of the large component together according to the position parameters. The machining position detection component is used to detect the positioning parameters of the large component after orientation adjustment. The end effector 41 selects the corresponding tool according to the machining parameters and performs machining on the large component according to the positioning parameters and machining parameters.

[0052] The three-axis movement and detection of the three-axis movement detection device 3 and the three-axis movement machining execution device 4 are operated and monitored by the control console. The end effector 41 performs drilling and countersinking on the large part according to the machining parameters and shape and position parameters. The vacuum dust collection device 42 sucks up the debris generated during the machining process. The pressure foot mechanism 43 presses the shape and surface of the large part according to the shape and position parameters. The positioning parameters of the large part after posture adjustment are detected by the machining shape and position detection component.

[0053] Furthermore, the machining shape and position detection component includes a vision inspection camera 44 and a machining displacement sensor 45. The vision inspection camera 44 is used to detect the hole positions on the large component, and the machining displacement sensor 45 is used to detect the surface curvature and surface normal of the large component.

[0054] Example 2:

[0055] A flexible integrated manufacturing and inspection system for large aircraft components, such as Figure 1 As shown, an improvement upon Embodiment 1 further includes a rotary tool magazine 5, which is positioned near the execution end of the three-axis motion machining actuator 4. A test tool table is located on the opposite side of the rotary tool magazine 5. After the end effector 41 picks up a tool from the rotary tool magazine 5, it moves the tool to the test tool table for a test cut.

[0056] The rest of this embodiment is the same as that of Embodiment 1, and will not be repeated here.

[0057] Example 3:

[0058] An integrated flexible processing and inspection system for large aircraft components, improved upon embodiment 1 or 2, such as... Figure 6 and Figure 7 As shown, the flexible attitude adjustment and positioning device 2 includes a linear moving part 21 and a three-coordinate attitude adjuster 22. Several sets of three-coordinate attitude adjusters 22 are provided on the linear moving part 21 corresponding to the attitude adjustment connection position of the large component. A ball socket seat 23 is provided at the connection end of the three-coordinate attitude adjuster 22. A ball head locking mechanism 24 is provided on one side of the ball socket seat 23.

[0059] The linear motion unit 21 includes a linear guide rail and a worktable mounted on the linear guide rail. Several three-coordinate coordinate adjusters 22 are mounted on the top of the worktable. Each three-coordinate coordinate adjuster 22 has a three-dimensional force sensor 25, a ball joint locking mechanism 24, and a ball joint seat 23 installed at its connection end. The linear guide rail mainly supports the worktable. The three-dimensional force sensor 25 mainly detects the magnitude of the force exerted by the ball joint seat 23 in the X, Y, and Z directions. The ball joint locking mechanism 24 is used to lock large components. The ball joint seat 23 forms a ball joint connection with the ball joint of the large component support fixture and provides stable support. Multiple three-coordinate coordinate adjusters 22 working in tandem can achieve position and orientation adjustment of the large component in six degrees of freedom.

[0060] The rest of this embodiment is the same as that of embodiment 1 or 2, and will not be repeated here.

[0061] Example 4:

[0062] A flexible manufacturing and inspection integrated method for large aircraft components, based on a rapid flexible attitude adjustment device, such as... Figure 9 As shown, it includes the following steps:

[0063] Step 1: Hoist the large component onto the flexible attitude adjustment and positioning device 2, and adjust the initial attitude of the large component through the three-coordinate attitude adjuster 22 in the flexible attitude adjustment and positioning device 2;

[0064] Step 2: The flexible attitude adjustment and positioning device 2 moves the large component to the working position of the flexible machining and inspection integrated device 1. The machining position parameters of the large component are detected once by the three-axis movement detection device 3. The flexible attitude adjustment and positioning device 2 adjusts the attitude of the large component precisely according to the machining position parameters.

[0065] Step 3: Use a three-axis motion detection device 3 to perform secondary detection of the machining position parameters of the large component, and calculate the machining correction compensation value based on the difference between the secondary detection machining position parameters and the position of the large component after precise orientation adjustment.

[0066] Step 4: Keep the large component fixed. The three-axis moving machining actuator 4 performs adaptive pose adjustment based on the machining position parameters and machining correction compensation values, so that the axis of the end effector 41 in the three-axis moving machining actuator 4 coincides with the hole position normal on the large component.

[0067] Step 5: The large component is processed by the axial feed of the end effector 41. After the large component is processed, the three-axis motion detection device 3 is used to detect the processing and assembly quality parameters of the processed large component.

[0068] Furthermore, step 5 specifically includes:

[0069] Step 5.1: Adjust the large component to the detection position using the flexible attitude adjustment and positioning device 2;

[0070] Step 5.2: The surface curvature and hole position normal of the large component processing area are detected by the laser displacement detection device 31 in the three-axis motion detection device 3;

[0071] Step 5.3: The three-axis moving detection device 3 performs adaptive pose adjustment based on the detection results of step 5.2, so that the axis of the surface quality measuring device 32 in the three-axis moving detection device 3 coincides with the normal vector of the hole position on the large component;

[0072] Step 5.4: Detect the machining and assembly quality parameters of the machining area on the large component using the surface quality measuring device 32.

[0073] Repeat steps 5.1-5.4 until machining is completed at all locations on the large component.

[0074] Furthermore, the processing and assembly quality parameters include hole diameter, recess depth, recess diameter, concavity / convexity of the connection position, and tilt of the connection position.

[0075] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A flexible machining and inspection integrated system for large aircraft components, comprising a flexible machining and inspection integrated device (1) and at least two sets of flexible attitude adjustment and positioning devices (2) capable of asynchronously entering and exiting the working position of the flexible machining and inspection integrated device (1), characterized in that, The flexible machining and inspection integrated device (1) includes a double gantry structure, a three-axis moving inspection device (3), and a three-axis moving machining execution device (4). The double gantry structure is equipped with the three-axis moving inspection device (3) and the three-axis moving machining execution device (4). After the flexible posture adjustment and positioning device (2) moves to the work station, it adjusts the posture of the large component. The three-axis moving inspection device (3) detects the machining position parameters on the large component after posture adjustment. The three-axis moving machining execution device (4) processes the large component according to the detection results. The three-axis moving inspection device (3) detects the machining assembly quality parameters of the processed large component. The three-axis motion detection device (3) includes a laser displacement detection device (31) and a surface quality measurement device (32). The laser displacement detection device (31) is used to detect the shape and position parameters of the large component, and the flexible attitude adjustment and positioning device (2) adjusts the attitude of the large component according to the shape and position parameters. The surface quality measurement device (32) is used to detect the processing and assembly quality parameters of the processed large component, and the three-axis motion processing execution device (4) processes the large component according to the processing and assembly quality parameters. The flexible attitude adjustment and positioning device (2) is also configured such that when any set of flexible attitude adjustment and positioning devices (2) drives the large component into the working position of the flexible processing and testing integrated device (1), the remaining flexible attitude adjustment and positioning devices (2) can pre-adjust the attitude of the large component outside the working position of the flexible processing and testing integrated device (1).

2. The integrated flexible processing and inspection system for large aircraft components according to claim 1, characterized in that, The three-axis moving machining execution device (4) includes an end effector (41), a vacuum dust collection device (42), a presser foot mechanism (43), and a machining position detection component. The vacuum dust collection device (42) is located on one side of the end effector (41). The presser foot mechanism (43) presses the outer surface of the large part together according to the position parameters. The machining position detection component is used to detect the positioning parameters of the large part after orientation adjustment. The end effector (41) selects the corresponding tool according to the machining parameters and performs machining on the large part according to the positioning parameters and machining parameters.

3. The integrated flexible processing and inspection system for large aircraft components according to claim 2, characterized in that, The machining shape and position detection component includes a vision inspection camera (44) and a machining displacement sensor (45). The vision inspection camera (44) is used to detect the hole positions on the large component, and the machining displacement sensor (45) is used to detect the surface curvature and surface normal of the large component.

4. The integrated flexible processing and inspection system for large aircraft components according to claim 3, characterized in that, It also includes a rotary tool magazine (5), which is located near the execution end of the three-axis moving machining actuator (4).

5. A flexible machining and inspection integrated system for large aircraft components according to any one of claims 1-4, characterized in that, The flexible attitude adjustment and positioning device (2) includes a linear moving part (21) and a three-coordinate attitude adjuster (22). The linear moving part (21) is provided with several sets of three-coordinate attitude adjusters (22) corresponding to the attitude adjustment connection positions of the large components. The connection end of the three-coordinate attitude adjuster (22) is provided with a ball socket seat (23). A ball head locking mechanism (24) is provided on one side of the ball socket seat (23).

6. The integrated flexible processing and inspection system for large aircraft components according to claim 5, characterized in that, The connection end of the three-coordinate attitude adjuster (22) is also provided with a three-dimensional force sensor (25).

7. A flexible manufacturing and inspection integrated method for large aircraft components, implemented based on the flexible manufacturing and inspection integrated system described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Hoist the large component onto the flexible attitude adjustment and positioning device (2), and adjust the initial attitude of the large component through the three-coordinate attitude adjuster (22) in the flexible attitude adjustment and positioning device (2); Step 2: The flexible attitude adjustment and positioning device (2) moves the large component to the working position of the flexible processing and testing integrated device (1). The processing position parameters of the large component are detected once by the three-axis movement detection device (3). The flexible attitude adjustment and positioning device (2) adjusts the attitude of the large component precisely according to the processing position parameters. Step 3: Use a three-axis motion detection device (3) to detect the machining position parameters of the large component for a second time, and calculate the machining correction compensation value based on the difference between the machining position parameters detected for the second time and the position of the large component after precise posture adjustment. Step 4: Keep the large component fixed. The three-axis moving machining actuator (4) performs adaptive pose adjustment based on the machining position parameters and machining correction compensation values, so that the axis of the end effector (41) in the three-axis moving machining actuator (4) coincides with the hole position normal on the large component. Step 5: The large component is processed by the axial feed of the end effector (41). After the large component is processed, the three-axis motion detection device (3) is used to detect the processing and assembly quality parameters of the processed large component.

8. The integrated method for flexible manufacturing and inspection of large aircraft components according to claim 7, characterized in that, Step 5 specifically includes: Step 5.1: Adjust the large component to the detection position using the flexible posture adjustment and positioning device (2); Step 5.2: The surface curvature and hole position normal of the large component processing area are detected by the laser displacement detection device (31) in the three-axis motion detection device (3); Step 5.3: The three-axis moving detection device (3) performs adaptive pose adjustment based on the detection results of step 5.2, so that the axis of the surface quality measuring device (32) in the three-axis moving detection device (3) coincides with the normal vector of the hole position on the large component; Step 5.4: Use a surface quality measuring device (32) to detect the machining and assembly quality parameters of the machining area on the large component.

9. The integrated method for flexible manufacturing and inspection of large aircraft components according to claim 8, characterized in that, The processing and assembly quality parameters include hole diameter, recess depth, recess diameter, concavity / convexity of the connection position, and tilt of the connection position.

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