An aircraft flexible tooling system and its control method

Abstract

The present invention discloses an aircraft flexible tooling system and its control method, which includes a skeleton clamping tooling and a plurality of skin clamping toolings; the skeleton clamping tooling includes a frame and a plurality of telescopic support legs, and a plurality of groups of jaw group sliders that can move are arranged on the frame, and a plurality of jaw assemblies that can move are arranged on each group of jaw group sliders; the skin clamping tooling includes a base, and a plurality of groups of suction cup group sliders are arranged on the base, vertical guide holes are arranged on each group of suction cup group sliders, and a plurality of suction cup assemblies that can move are arranged in the vertical guide holes. The present invention can adapt to the assembly of skins with different curvatures. For small-sized or small-curvature components, it can be directly realized by the horizontal skin tooling. For large-curvature components, the two side fixtures are adjusted to rise, and then an adsorption lattice can be formed by the movement of the vacuum suction cups to clamp. The suction cup heads can also rotate adaptively according to the skins with different curvatures.

Description

Technical Field

[0001] The present invention relates to the field of aircraft manufacturing, and particularly to an aircraft flexible tooling system and an installation method thereof. Background Art

[0002] At present, the aviation equipment manufacturing industry, as one of the top ten key development fields of the country, is of great significance to economic development, national security, scientific and technological innovation, transportation, etc., and is an important manifestation of a country's comprehensive strength and competitiveness.

[0003] Aircraft assembly is a very crucial link in the entire aviation manufacturing process, and the workload accounts for about half of the entire aircraft manufacturing. However, the characteristics of aircraft assembly are large operating labor intensity, a wide range of connection technologies involved, the method and process of ensuring component assembly interchangeability and coordination are relatively complex, and it is required to ensure the strength of the docking surface and the accuracy of the aerodynamic shape during the entire assembly process. Currently, the following problems exist in traditional mechanical tooling:

[0004] 1. Traditional mechanical tooling cannot adjust the clamping force and supporting force of workpieces according to different materials;

[0005] 2. Traditional mechanical tooling has poor flexibility and cannot adapt to the assembly of skins with different curvatures;

[0006] 3. Traditional mechanical tooling cannot adaptively change the supporting position of workpieces, and the supporting and fixing effect on workpieces is poor.

[0007] Therefore, in view of the foregoing problems, it is necessary to propose an aircraft flexible tooling system and a control method thereof that are applicable to workpieces of different materials, have better flexibility, and have a better supporting and fixing effect. Summary of the Invention

[0008] In view of the above deficiencies of the prior art, the present invention provides an aircraft flexible tooling system and a control method thereof.

[0009] To achieve the above invention purpose, the technical solution adopted by the present invention is as follows:

[0010] Provide an aircraft flexible tooling system and a control method thereof, including a movable skeleton clamping tooling and a plurality of skin clamping toolings; the skeleton clamping tooling includes a frame frame and a plurality of telescopic support legs fixed at the bottom of the frame frame, and a plurality of groups of jaw group sliders that are movable are arranged on the frame frame, and a plurality of jaw components that are movable are arranged on each group of jaw group sliders; the skin clamping tooling includes a base, and a plurality of groups of suction cup group sliders are arranged on the base, and vertical guide holes are arranged in each group of suction cup group sliders, and a plurality of suction cup components that are movable are arranged in the vertical guide holes.

[0011] Further, the skin clamping tooling includes a left skin clamping tooling, a middle skin clamping tooling, and a right skin clamping tooling with the same structure. The left skin clamping tooling and the middle skin clamping tooling, as well as the middle skin clamping tooling and the right skin clamping tooling, are hinged through a hinge shaft. Telescopic devices are provided at the bottoms of the left skin clamping tooling and the right skin clamping tooling, and the telescopic devices are used to adjust the included angles between the left skin clamping tooling, the right skin clamping tooling, and the middle skin clamping tooling.

[0012] Further, the suction cup assembly includes a universal suction cup, a suction cup telescopic cylinder, and a suction cup base. The bottom of the suction cup telescopic cylinder is installed in the suction cup base through a telescopic mechanism, and a suction cup adsorption air inlet for installing the universal suction cup is provided at the top of the suction cup telescopic cylinder; a guiding limit ring is provided outside the suction cup base, and a suction cup limit guiding groove for cooperating with the guiding limit ring is provided on the suction cup group sliding block.

[0013] Further, a first driving mechanism is further included. The first driving mechanism is used to drive the claw group sliding block to move. The first driving mechanism includes a first rack, a first gear, and a first motor. The first rack is arranged at the top of the frame, the first gear is arranged at the end of the claw group sliding block, the first rack meshes with the first gear, and the first gear is fixed to the output end of the first motor.

[0014] Further, a second driving mechanism is further included. The second driving mechanism is used to drive the claw assembly to move. The second driving mechanism includes a second rack, a second gear, and a second motor. The second rack is fixed to the side of the claw group sliding block. A sliding strip hole for installing the claw assembly is provided on the claw group sliding block. The top of the claw assembly passes through the sliding strip hole and is fixed with a claw sliding block. The second gear is installed on the output shaft of the second motor. The second rack meshes with the second gear, and the second motor is fixedly connected to the claw sliding block;

[0015] Further, a third driving mechanism is further included. The third driving mechanism is used to drive the suction cup group sliding block to move. The third driving mechanism includes a third rack, a third gear, and a third motor. The third rack is fixed to the side of the machine base. The third gear is installed at the output end of the third motor. The third rack and the third gear are meshed and connected, and the third motor is fixed to the end of the suction cup group sliding block.

[0016] Further, a fourth driving mechanism is further included. The fourth driving mechanism is used to drive the suction cup assembly to move. The fourth driving mechanism includes a fourth rack, a fourth gear, and a fourth motor. The fourth rack is fixed to the side of the suction cup group sliding block. The fourth gear meshes with the fourth gear. The fourth gear is fixedly connected to the suction cup assembly through a connecting shaft. A traction rotating shaft hole for cooperating with the connecting shaft is provided on the suction cup assembly, and a horizontal guiding hole for cooperating with the traction rotating shaft hole is provided on the suction cup group sliding block.

[0017] An aircraft flexible tooling system and its control method include the following steps:

[0018] S1: First, import the three-dimensional model parameters of the panel into industrial software, and then perform a simulation assembly of the panel and the flexible tooling model to obtain the pre-assembly digital model of the skin.

[0019] S2: Determine the working position coordinates corresponding to all the jaws and all the suction cup assemblies through the arrangement of the jaws and suction cup assemblies, as well as the optimization model between the minimum deformation amounts of the skin and the framework.

[0020] S3: According to the working position coordinates of the jaw assemblies and the suction cup assemblies, first control the slider of the jaw group and the slider of the suction cup group to move to the corresponding working positions, and then control the jaw assemblies and the suction cup assemblies to move to the corresponding working positions.

[0021] S4: After the jaw assemblies and the suction cup assemblies move to the working positions, first control the jaw assemblies to clamp the framework and clamp the skin above the suction cup assemblies, then control the jaw assemblies to release the framework, and at the same time control the suction cup telescopic cylinder to extend, and the universal suction cup adaptively rotates to the tangential adsorption position according to the curvature of the clamped aircraft skin and the adaptive rotation algorithm.

[0022] S5: After the universal suction cup rotates to the tangential adsorption position, control the suction cup assemblies to start adsorption and perform the assembly operation.

[0023] In step S2, the optimization model is:

[0024] The minimum deformation amounts MIN{S max (X), T max}(Y) satisfy:

[0025]

[0026] X = (x1, x2,..., x q );

[0027] Y = (y1, y2,..., y p );

[0028] (x u , y l ) ∈ A; u = 1, 2,..., q; l = 1, 2,..., p;

[0029] Where: X is the suction cup positioning method; Y is the clamping method of the jaws; m is the number of types of aircraft outer shells with different curvatures; S max (X) is the maximum deformation amount of the skin; T max (Y) is the maximum deformation amount of the framework; S i (X) is the maximum deformation amount of the skin of the i-th type of aircraft outer shell; T l (Y) is the maximum deformation amount of the framework of the i-th type of aircraft outer shell; A is the feasible design domain of the arrangement method of the jaws and the vacuum suction cups under certain constraint conditions. xu is the u-th sucker positioning method; y l is the l-th jaw positioning method; q is the number of sucker arrangement methods; p is the number of jaw arrangement methods.

[0030] In step S4, the steps of the adaptive rotation algorithm are as follows:

[0031] S41: Interpolate the data point set of the aircraft hull model to be assembled into a smooth two-dimensional curve function;

[0032] Specifically, the aircraft hull to be assembled is divided into several planes by the plane where the sucker component track is located, and the point set of the hull model of each plane is interpolated into a two-dimensional curve function. The obtained two-dimensional curve function is as follows:

[0033]

[0034] where h i = x i - x i-1 h i is the distance between the (i - 1)-th hull model point and the i-th hull model point; M i-1 is the slope of the (i - 1)-th hull model point; M i is the slope of the i-th hull model point; y i-1 is the ordinate of the (i - 1)-th hull model point; y i is the ordinate of the i-th hull model point; f i (x) is the function after interpolation; x is the coordinate of the coordinate point on the X-axis; y is the coordinate of the coordinate point on the Y-axis; x i-1 is the coordinate of the (i - 1)-th hull model point on the X-axis, x i is the coordinate of the i-th hull model point on the X-axis.

[0035] S42: According to the interpolated two-dimensional curve function, calculate the adaptive rotation angle of the sucker head on the corresponding track. The formula for calculating the adaptive rotation angle of the sucker head is as follows:

[0036]

[0037] where: α is the adaptive rotation angle of the sucker head; l0 is the coordinate of the center of the curvature circle in the x direction; h0 is the coordinate of the center of the curvature circle in the y direction; κ is the curvature of the specified coordinate; l1 is the coordinate of the sucker in the x direction; R is the radius of the curvature circle of the specified coordinate; L is the length of the sucker head; x is the coordinate of the coordinate point on the X-axis; y is the coordinate of the coordinate point on the Y-axis; y′ is the derivative of the coordinate point function with respect to the X-axis independent variable, and y″ is the second derivative of the coordinate point function with respect to the X-axis independent variable.

[0038] The beneficial effects of the present invention are as follows:

[0039] In the present invention, the three skin clamping tools have a high degree of flexibility and can adapt to the assembly of skins with different curvatures. For the assembly of panel components, small-sized or small-curvature components can be directly realized by the horizontal skin tooling without adjusting the postures of the two side skin clamping tools. For large-curvature components, the two side skin clamping tools are adjusted to rise, and then an adsorption lattice can be formed by the movement of the vacuum suction cups to clamp. The suction cup heads can also adaptively rotate according to the skins with different curvatures.

[0040] The clamping stability of the claw assembly of the present invention is high. The suction cup assembly is a universal suction head, which can closely fit the skin components and can detect whether there is air leakage in real time. The overall adjustable stability of the tooling is high. For the skeleton tooling with a relatively large mass, mechanical claws can provide a greater clamping force to ensure stable clamping.

[0041] The present invention can reduce the deformation amount of workpieces. The skin structure is generally a thin-walled component. This tooling uses vacuum suction cups as clamping elements, and the clamping force can be adjusted according to different materials. At the same time, it can reduce and change the support position according to the maximum deformation amount of the workpiece, preventing the deformation of the workpiece to the greatest extent.

[0042] The present invention has strong operability. The overall floor area of the tooling is small, the space utilization rate is large, and an internal part of the space is left, which is convenient for workers to operate and reduces the labor intensity of workers. The tooling system of the present invention is combined with a control method to increase the intelligence of assembly and reduce manual operations. Description of the Drawings

[0043] Figure 1 It is a schematic diagram of the overall structure of the flexible tooling system;

[0044] Figure 2 It is a schematic diagram of the structure of the skeleton clamping tooling;

[0045] Figure 3 For Figure 2 The partial enlarged view at position A in

[0046] Figure 4 It is a schematic diagram of the structure of the skin clamping tooling Figure 1 ;

[0047] Figure 5 It is a schematic diagram of the structure of the skin clamping tooling Figure 2 ;

[0048] Figure 6 It is a partial structure schematic diagram of the left skin clamping tooling;

[0049] Figure 7 It is a schematic diagram of the structure of the suction cup group sliding block;

[0050] Figure 8Front view of the sliding block of the suction cup group;

[0051] Figure 9 is Figure 8 Cross-sectional view taken along the B-B direction in

[0052] Figure 10 Partial structural schematic diagram of the vacuum suction cup group;

[0053] Figure 11 Exploded view of the vacuum suction cup;

[0054] Figure 12 Exploded view of the hydraulic telescopic column;

[0055] Figure 13 Schematic diagram of the intelligent control system;

[0056] Descriptions of the main component symbols in the figure are as follows:

[0057] 1. Skeleton clamping tooling; 11. Frame frame; 12. Telescopic support leg; 13. Claw group sliding block; 14. First rack; 15. First gear; 16. Upper sliding bar hole; 17. Claw sliding block; 19. Claw assembly; 110. Second rack; 111. Second gear;

[0058] 2. Left skin clamping tooling; 21. Suction cup group sliding block; 211. Vertical guide hole; 212. Horizontal guide hole; 213. Suction cup limit guide groove;

[0059] 22. Third rack; 23. Third gear; 24. Fourth rack; 25. Fourth gear; 26. Suction cup group limit plate; 27. Machine base; 28. Suction cup assembly; 281. Universal suction cup; 282. Suction cup adsorption air inlet; 283. Suction cup telescopic cylinder; 284. Suction cup base; 285. Guide limit ring; 286. Traction rotating shaft hole;

[0060] 3. Middle skin clamping tooling; 4. Right skin clamping tooling; 5. Hydraulic telescopic column; 51. Hinge seat; 52. Upper telescopic rod; 53. Middle telescopic rod; 54. Bottom telescopic rod; 6. Hinge shaft. Specific implementation manners

[0061] The specific implementation manners of the present invention will be described below to facilitate those skilled in the art of this technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation manners. For those of ordinary skill in the art of this technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are within the scope of protection.

[0062] Such as Figure 1As shown, the aircraft flexible fixture system and the control method thereof include a movable skeleton clamping fixture 1 and three skin clamping fixtures.

[0063] like Figure 2 and 3 As shown, the skeleton clamping fixture 1 includes a frame 11 and a plurality of telescopic bracket legs 12 fixed to the bottom of the frame 11. The frame 11 is provided with a plurality of movable groups of claw group sliding blocks 13. Each group of claw group sliding blocks 13 is provided with a plurality of movable claw assemblies 19. Each group of claw group sliding blocks 13 is preferably provided with two claw assemblies 19. The claw assemblies 19 are preferably activated pneumatic claws. The skin clamping fixture 3 includes a left skin clamping fixture 2, a middle skin clamping fixture 3 and a right skin clamping fixture 4 with the same structure. The left skin clamping fixture 2 and the middle skin clamping fixture 3, and the middle skin clamping fixture 3 and the right skin clamping fixture 4 are hinged by a hinge shaft 6. The left skin clamping fixture 2, the middle skin clamping fixture 3 and the right skin clamping fixture 4 are provided with hinge ends that cooperate with the hinge shaft 6. The bottom of the left skin clamping fixture 2 and the right skin clamping fixture 4 are both provided with telescopic devices, which are used to adjust the angle between the left skin clamping fixture 2, the right skin clamping fixture 4 and the middle skin clamping fixture 3. If the curvature of the assembled skin is small and the overall surface is relatively flat, it is only necessary to control the vacuum suction cup to move in the Z direction; if the curvature of the assembled skin is large and the overall surface is relatively curved, the telescopic devices on both sides are controlled to provide power to the left skin clamping fixture 2 and the right skin clamping fixture 4 on both sides, so that the left skin clamping fixture 2 and the right skin clamping fixture 4 rotate around the middle skin clamping fixture 3, and the working curvature of the fixture system is adaptively changed. A suction cup group limit plate 26 is provided between adjacent suction cup group sliding blocks 21 on the same skin clamping fixture, and the suction cup group limit plate 26 is fixed on the machine base 27. The suction cup group limit plate 26 is used to limit the position of the suction cup group sliding block 21.

[0064] The bottom of the telescopic support leg 12 can be provided with a roller matching track to facilitate the horizontal movement of the skeleton clamping tool 1. The support leg can be lifted and lowered by two telescopic support legs 12 in linkage, or by a single support leg. When the support leg is lifted and lowered individually, specifically, the telescopic support leg 12 includes an upper telescopic cylinder and a lower fixed cylinder, the upper telescopic cylinder is nested in the lower fixed cylinder, a screw is rotatably installed at the bottom of the lower fixed cylinder, a nut matching the screw is fixed at the bottom of the upper telescopic cylinder, a first bevel gear is installed at the bottom of the screw, the first bevel gear is connected to the second bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is installed on the output shaft of the motor, and the telescopic control of the upper telescopic cylinder is realized by the motor, so as to realize the telescopic operation of the telescopic support leg 12.

[0065] It further includes a first driving mechanism for driving the jaw group slider 13 to move. The first driving mechanism includes a first rack 14, a first gear 15 and a first motor. The first rack 14 is arranged on the top of the frame 11. The first gear 15 is arranged at the end of the jaw group slider 13. The first rack 14 meshes with the first gear 15. The first gear 15 is fixed to the output end of the first motor. By controlling the first motor, each group of jaw group sliders 13 can be moved to the required working positions.

[0066] It further includes a second driving mechanism for driving the jaw assembly 19 to move. The second driving mechanism includes a second rack 110, a second gear 111 and a second motor. The second rack 110 is fixed to the side of the jaw group slider 13. A sliding strip hole 16 for installing the jaw assembly 19 is provided on the jaw group slider 13. The top of the jaw assembly 19 passes through the sliding strip hole 16 and is fixed with a jaw slider 17. The second gear 111 is installed on the output shaft of the second motor. The second rack 110 meshes with the second gear 111. The second motor is fixedly connected to the jaw slider 17. By controlling the second motor, each jaw assembly 19 can be moved to the required working positions.

[0067] As Figure 4 、 5 shown in FIGS. 6, 7, 8, 9 and 10, the skin clamping tooling includes a base 27. A plurality of groups of sucker group sliders 21 are arranged on the base 27. A vertical guide hole 211 is provided on each group of sucker group sliders 21. A plurality of movable sucker assemblies 28 are arranged in the vertical guide holes 211. The sucker assemblies 28 are preferably vacuum suckers.

[0068] As Figure 7 shown, it further includes a third driving mechanism for driving the sucker group slider 21 to move. The third driving mechanism includes a third rack 22, a third gear 23 and a third motor. The third rack 22 is fixed to the side of the base 27. The third gear 23 is installed at the output end of the third motor. The third rack 22 and the third gear 23 are meshed and connected. The third motor is fixed to the end of the sucker group slider 21. By controlling the third motor, the sucker group slider 21 can be moved to the required working positions.

[0069] It further includes a fourth driving mechanism for driving the suction cup assembly 28 to move. The fourth driving mechanism includes a fourth rack 24, a fourth gear 25 and a fourth motor. The fourth rack 24 is fixed to the side of the suction cup group sliding block 21. The fourth gear 25 is fixed to the output end of the third motor. The fourth rack 24 meshes with the fourth gear 25. The fourth gear 25 is fixedly connected to the suction cup assembly 28 through a connecting shaft. The suction cup assembly 28 is provided with a traction rotating shaft hole 286 for cooperating with the connecting shaft, and the suction cup group sliding block 21 is provided with a horizontal guide hole 212 for cooperating with the traction rotating shaft hole 286. By controlling the fourth motor, the suction cup assembly 28 can be moved to the required working position.

[0070] As Figure 11 shown, the suction cup assembly 28 includes a universal suction cup 281, a suction cup telescopic cylinder 283 and a suction cup base 284. The bottom of the suction cup telescopic cylinder 283 is installed in the suction cup base 284 through a telescopic mechanism. The top of the suction cup telescopic cylinder 283 is provided with a suction cup adsorption air inlet 282 for installing the universal suction cup 281. A guiding and limiting ring 285 is arranged outside the suction cup base 284, and the suction cup group sliding block 21 is provided with a suction cup limiting and guiding groove 213 for cooperating with the guiding and limiting ring 285.

[0071] As Figure 12 shown, the telescopic device can adopt a telescopic cylinder or an electric telescopic rod. The telescopic device can also adopt a hydraulic telescopic column 5, which includes an upper telescopic rod 52, a middle telescopic rod 53 and a bottom telescopic rod 54. The bottom telescopic rod 54 is provided with a blind hole for installing the middle telescopic rod 53, and the middle telescopic rod 53 is provided with a through hole for installing the upper telescopic rod 52. Hinge seats 51 are arranged at the extending end of the upper telescopic rod 52 and the fixed end of the bottom telescopic rod 54.

[0072] The aircraft flexible tooling system and its control method include the following steps: Figure 13 For the control system schematic diagram:

[0073] S1: First, import the three-dimensional model parameters of the panel into the industrial software, and then perform a simulation assembly of the panel and the flexible tooling model to obtain the skin pre-assembly digital model.

[0074] S2: Determine the working position coordinates corresponding to all the jaws 19 and all the suction cup assemblies 28 through the arrangement of the jaws 19 and the suction cup assemblies 28, and the optimization model between the minimum deformation amounts of the skin and the skeleton.

[0075] In step S2, the optimization model is:

[0076] The minimum deformation amounts MIN{S max (X), T max (Y)} satisfy:

[0077]

[0078] X = (x1, x2, …, x q );

[0079] Y = (y1, y2, …, y p );

[0080] (x u , y l ) ∈ A; u = 1, 2, …, q; l = 1, 2, …, p;

[0081] Where: X is the sucker positioning method; Y is the clamping method of the jaws; m is the number of types of aircraft hulls with different curvatures; S max (X) is the maximum skin deformation; T max (Y) is the maximum frame deformation; S i (X) is the maximum skin deformation of the i-th type of aircraft hull; T l (Y) is the maximum frame deformation of the i-th type of aircraft hull; A is the feasible design domain of the arrangement method of the jaws and vacuum suckers under certain constraint conditions. x u is the u-th sucker positioning method; y l is the l-th jaw positioning method; q is the number of types of sucker arrangements; p is the number of types of jaw arrangements. S3: According to the working position coordinates of the jaw assembly 19 and the sucker assembly 28, first control the jaw group slider 13 and the sucker group slider 21 to move to the corresponding working positions, and then control the jaw assembly 19 and the sucker assembly 28 to move to the corresponding working positions;

[0082] S4: After the jaw assembly 19 and the sucker assembly 28 move to the working positions, first control the jaw assembly 19 to clamp the frame and clamp the skin above the sucker assembly 28, then control the jaw assembly 19 to release the frame, and at the same time control the sucker telescopic cylinder 283 to extend, and the universal sucker 281 rotates adaptively to the tangential adsorption position according to the curvature of the aircraft skin to be clamped and the adaptive rotation algorithm;

[0083] In step S4, the steps of the adaptive rotation algorithm are as follows:

[0084] S41: Interpolate the data point set of the aircraft hull model to be assembled into a smooth two-dimensional curve function;

[0085] Specifically, divide the aircraft hull to be assembled into several planes through the plane where the sucker assembly 28 orbit is located, interpolate the hull model point set of each plane into a two-dimensional curve function, and the obtained two-dimensional curve function is as follows:

[0086]

[0087] Where h i= x i -x i-1 , h i is the distance between the (i - 1)-th point and the i-th point; M i-1 is the slope of the (i - 1)-th point; M i is the slope of the i-th point; y i-1 is the ordinate of the (i - 1)-th point; y i is the ordinate of the i-th point; f i (x) is the function after interpolation; x is the coordinate of the coordinate point on the X-axis; y is the coordinate of the coordinate point on the Y-axis; x i-1 is the coordinate of the (i - 1)-th outer shell model point on the X-axis, x i is the coordinate of the i-th outer shell model point on the X-axis. S42: According to the interpolated two-dimensional curve function, calculate the adaptive rotation angle of the suction cup head on the corresponding track. The formula for calculating the adaptive rotation angle of the suction cup head is as follows:

[0088]

[0089] where, h i = x i -x i-1 , h i is the distance between the (i - 1)-th outer shell model point and the i-th outer shell model point; M i-1 is the slope of the (i - 1)-th outer shell model point; M i is the slope of the i-th outer shell model point; y i-1 is the ordinate of the (i - 1)-th outer shell model point; y i is the ordinate of the i-th outer shell model point; x is the coordinate on the X-axis of the coordinate point; y is the coordinate on the Y-axis of the coordinate point; y′ is the derivative of the coordinate point function value with respect to the X-axis independent variable, and y″ is the second derivative of the coordinate point function value with respect to the X-axis independent variable.

[0090] S5: After the universal suction cup 281 rotates to the tangential adsorption position, control the suction cup assembly 28 to start adsorption and perform the assembly operation. After receiving the instruction, the suction cup assembly 28 controls the suction cup assembly 28 to start adsorption, and detects whether there is air leakage through the air pressure sensor; if the data of the air pressure sensor is abnormal, there is an air leakage phenomenon, then find the problem from the pre-assembly link and repeat the above process again; if the data of the gas sensor is normal, there is no air leakage phenomenon, then perform the next assembly operation.

Claims

1. An aircraft flexible tooling system, characterized in that, It includes a movable skeleton clamping tooling (1) and several skin clamping toolings; The skeleton clamping tooling (1) includes a frame (11) and several telescopic support legs (12) fixed to the bottom of the frame (11). Several groups of movable jaw group sliders (13) are arranged on the frame (11), and several movable jaw assemblies (19) are arranged on each group of jaw group sliders (13); The skin clamping tooling includes a machine base (27). Several groups of suction cup group sliders (21) are arranged on the machine base (27). A vertical guide hole (211) is arranged on each group of suction cup group sliders (21), and several movable suction cup assemblies (28) are arranged in the vertical guide hole (211); The skin clamping tooling (3) includes a left skin clamping tooling (2), a middle skin clamping tooling (3) and a right skin clamping tooling (4) with the same structure. The left skin clamping tooling (2) and the middle skin clamping tooling (3), and the middle skin clamping tooling (3) and the right skin clamping tooling (4) are hinged through a hinge shaft (6). Telescopic devices are arranged at the bottoms of the left skin clamping tooling (2) and the right skin clamping tooling (4), and the telescopic devices are used to adjust the included angles between the left skin clamping tooling (2), the right skin clamping tooling (4) and the middle skin clamping tooling (3).

2. The aircraft flexible tooling system according to claim 1, characterized in that The suction cup assembly (28) includes a universal suction cup (281), a suction cup telescopic cylinder (283) and a suction cup base (284). The bottom of the suction cup telescopic cylinder (283) is installed in the suction cup base (284) through a telescopic mechanism. A suction cup adsorption air inlet (282) for installing the universal suction cup (281) is arranged at the top of the suction cup telescopic cylinder (283); A guiding and limiting ring (285) is arranged outside the suction cup base (284), and a suction cup limiting and guiding groove (213) matching with the guiding and limiting ring (285) is arranged on the suction cup group slider (21).

3. The aircraft flexible tooling system according to claim 1, characterized in that It also includes a first driving mechanism. The first driving mechanism is used to drive the movement of the jaw group slider (13). The first driving mechanism includes a first rack (14), a first gear (15) and a first motor. The first rack (14) is arranged at the top of the frame (11), the first gear (15) is arranged at the end of the jaw group slider (13), the first rack (14) meshes with the first gear (15), and the first gear (15) is fixed to the output end of the first motor.

4. The aircraft flexible tooling system according to claim 1, wherein It further includes a second driving mechanism which is used to drive the jaw assembly (19) to move. The second driving mechanism includes a second rack (110), a second gear (111) and a second motor. The second rack (110) is fixed to the side of the jaw group sliding block (13). A sliding bar hole (16) for installing the jaw assembly (19) is provided on the jaw group sliding block (13). A jaw sliding block (17) is fixed through the sliding bar hole (16) at the top of the jaw assembly (19). The second gear (111) is installed on the output shaft of the second motor. The second rack (110) meshes with the second gear (111). The second motor is fixedly connected to the jaw sliding block (17).

5. The aircraft flexible tooling system according to claim 1, characterized in that, It further includes a third driving mechanism which is used to drive the suction cup group sliding block (21) to move. The third driving mechanism includes a third rack (22), a third gear (23) and a third motor. The third rack (22) is fixed to the side of the machine base (27). The third gear (23) is installed at the output end of the third motor. The third rack (22) and the third gear (23) are meshed and connected. The third motor is fixed to the end of the suction cup group sliding block (21).

6. The aircraft flexible tooling system according to claim 1, characterized in that, It further includes a fourth driving mechanism which is used to drive the suction cup assembly (28) to move. The fourth driving mechanism includes a fourth rack (24), a fourth gear (25) and a fourth motor. The fourth rack (24) is fixed to the side of the suction cup group sliding block (21). The fourth gear (25) is fixed to the output end of the third motor. The fourth rack (24) meshes with the fourth gear (25). The fourth gear (25) is fixedly connected to the suction cup assembly (28) through a connecting shaft. A traction rotating shaft hole (286) matching with the connecting shaft is provided on the suction cup assembly (28). A horizontal guide hole (212) matching with the traction rotating shaft hole (286) is provided on the suction cup group sliding block (21).

7. A control method for the aircraft flexible tooling system according to any one of claims 1-6, characterized in that, It includes the following steps: S1: First, import the three-dimensional model parameters of the wall panel into the industrial software, and then perform simulation assembly on the wall panel and the flexible tooling model to obtain the skin pre-assembly digital model. S2: Determine the working position coordinates corresponding to all the jaw assemblies (19) and all the suction cup assemblies (28) through the arrangement of the jaw assemblies (19) and the suction cup assemblies (28), and the optimization model between the minimum deformation amounts of the skin and the skeleton. S3: According to the working position coordinates of the jaw assemblies (19) and the suction cup assemblies (28), first control the jaw group sliding block (13) and the suction cup group sliding block (21) to move to the corresponding working positions, and then control the jaw assemblies (19) and the suction cup assemblies (28) to move to the corresponding working positions. S4: After the jaw assembly (19) and the suction cup assembly (28) move to the working position, first control the jaw assembly (19) to clamp the skeleton and clamp the skin to a position above the suction cup assembly (28), then control the jaw assembly (19) to release the skeleton, and at the same time control the suction cup telescopic cylinder (283) to extend. The universal suction cup (281) adaptively rotates to the tangential adsorption position according to the curvature of the aircraft skin to be clamped and the adaptive rotation algorithm; S5: After the universal suction cup (281) rotates to the tangential adsorption position, control the suction cup assembly (28) to start adsorption and perform the assembly operation.

8. The control method of the aircraft flexible tooling system according to claim 7, characterized in that In step S2, the optimization model is: Minimum deformation of the skin and the framework Meet the requirement that: ； ； ； ； Wherein: is the sucker positioning method; is the clamping method of the jaws; is the number of types of aircraft hulls with different curvatures; is the maximum skin deformation; is the maximum frame deformation; is the maximum skin deformation of the th type of aircraft hull; is the maximum frame deformation of the th type of aircraft hull; is the th sucker positioning method; is the th jaw positioning method; is the number of types of sucker arrangements; 9. The aircraft flexible tooling system and its control method according to claim 7, characterized in that In step S4, the steps of the adaptive rotation algorithm are as follows: S41: Interpolate the data point set of the aircraft outer shell model to be assembled into a smooth two-dimensional curve function; Specifically, the aircraft outer shell to be assembled is divided into several planes by the plane where the orbit of the suction cup assembly (28) is located, and the outer shell model point set of each plane is interpolated into a two-dimensional curve function. The obtained two-dimensional curve function is as follows: ； Among them, , is the distance between the th and the th shell model points; is the slope of the th shell model point; is the slope of the th shell model point; is the ordinate of the th shell model point; is the ordinate of the th shell model point; is the function after interpolation; is the coordinate of the coordinate point on the X-axis; is the coordinate of the coordinate point on the Y-axis; is the coordinate of the th shell model point on the X-axis, is the coordinate of the th shell model point on the X-axis; S42: According to the interpolated two-dimensional curve function, calculate the adaptive rotation angle of the suction cup head on the corresponding orbit. The formula for calculating the adaptive rotation angle of the suction cup head is as follows: Wherein: is the self - adaptive rotation angle of the suction cup head; is the coordinate of the center of the curvature circle in the direction; is the coordinate of the center of the curvature circle in the direction; is the coordinate of the suction cup in the direction; is the radius of the curvature circle of the specified coordinate; is the length of the suction cup head; is the coordinate of the coordinate point on the X - axis; is the coordinate of the coordinate point on the Y - axis; is the derivative of the coordinate point function value with respect to the independent variable of the X - axis, is the second - order derivative of the coordinate point function value with respect to the independent variable of the X - axis.

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