Aircraft solar wing solar cell array man-machine collaborative assembly method

Abstract

The invention relates to the technical field of aircraft assembly, and particularly discloses an aircraft solar wing solar cell array man-machine collaborative assembly method comprising the following steps: pre-treating and preparing a solar cell array assembly and a solar wing assembly area; the solar wing glue joint areas are scanned, three corresponding glue joint areas and three corresponding coating tracks are obtained through planning, and the first coating track is executed; the cambered surface of the solar wing is subjected to profiling, and the assembly is transferred and laid; after the first glue joint area is pressed and fixed, a second coating track and a third coating track are executed in sequence; pre-tightening and wrinkle reduction are conducted on the assembly; and after the second glue joint area and the second glue joint area are pressed and fixed in sequence, post-processing is conducted on the solar wing and the assembly. According to the invention, through the clear division of labor and cooperation of the man-machine task interface, the repeatability and stability of the machine are utilized, the intelligence, flexibility and advantage complementation of manpower are exerted, the digitization degree of the assembly task process is improved, the operation fluency is increased, and the manpower demand pressure is released.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft assembly, and in particular to a human-machine collaborative assembly method for an aircraft solar wing solar cell array. Background Art

[0002] The surface of the aircraft's solar wing is covered with a large area of ​​solar cell arrays, which obtain external natural energy through photoelectric conversion during the day to provide the required electrical energy for the power system, integrated avionics system, and payload system. For some special aircraft, such as solar-powered drones, the solar cell array is not only a functional component for photoelectric conversion, but also a skin that bears aerodynamic loads.

[0003] Solar cell array components are lightweight, flexible, and expensive. Aircraft often have strict weight requirements, and generally use thin film packaging. Thin film solar cell array components are a power generation device that uses polymer film as packaging material, with solar cell monomers inside, electrically interconnected, and with components such as diodes. The whole is laminated at a specific temperature and pressure to form a power generation device. The aircraft solar wing adopts a segmented connection method, and the main structure of each section of the solar wing is composed of ribs, main beams, and trailing edges. The main material of the solar wing is a composite material with carbon fiber and epoxy resin as the main components, which is connected by adhesives. The solar cell array components are installed and fastened to the designated area on the solar wing according to the design requirements, that is, the solar wing solar cell array assembly is completed; before the aircraft solar wing carries out the solar cell array assembly operation, the solar cell array is placed in the form of discrete components.

[0004] Although thin-film solar arrays have obvious advantages and advantages, there are still some challenges and problems in the process of use, especially in assembly. At present, all aspects of the assembly process of aircraft solar wing solar arrays are completed manually. Although it can meet the needs at this stage, there are still the following aspects that need to be considered:

[0005] (1) Low assembly efficiency, long development cycle, and high time planning pressure;

[0006] (2) It relies on the operator’s experience and requires proficiency;

[0007] (3) A large number of operators are required, the operations are concentrated, intensive and high-intensity, and operators are prone to fatigue;

[0008] (4) The degree of digitalization and intelligence of processes is insufficient;

[0009] (5) Quality consistency is difficult to ensure, and control measures and capabilities are lacking;

[0010] (6) The current production capacity cannot meet the future demand for large-scale production and application.

[0011] Therefore, in order to further improve the efficiency of aircraft solar wing solar cell array assembly, ensure quality consistency, reduce the dependence of the assembly process on operator experience and quantity, optimize the development cycle, enhance planning buffer and fault tolerance, it is crucial to study a new aircraft solar wing solar cell array assembly method or process by combining digital and intelligent means and methods.

[0012] Based on this technical background, the present invention studies a human-machine collaborative assembly method for an aircraft solar wing solar cell array. Summary of the invention

[0013] In view of the deficiencies in the prior art, the present invention provides a human-machine collaborative assembly method for aircraft solar wing solar cell arrays. Through the clear division of labor and collaborative cooperation in the task interface between man and machine, the repeatability and stability of the machine are utilized, the intelligence and flexibility of manpower are brought into play, and the advantages are complementary. The degree of digitization of the assembly task process is improved, the smoothness of the operation is increased, and the pressure of manpower demand is released. This can achieve a safe, efficient, fast and accurate large-scale assembly effect of solar cell arrays to solar wings.

[0014] In order to achieve the above object, the present invention provides a human-machine collaborative assembly method for an aircraft solar wing solar cell array, comprising:

[0015] Pre-process and prepare the solar array components and solar wing assembly areas;

[0016] Scan the solar wing bonding area, plan to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area, and execute the first coating trajectory;

[0017] Profiling the curved surface of the solar wing, and transporting and laying out the components;

[0018] After the first bonding area is pressed and consolidated, the second and third coating tracks are sequentially performed;

[0019] Pre-tightening and wrinkle-reducing the assembly;

[0020] After the second and third bonding areas are pressed and consolidated in sequence, the solar wing and the assembly are post-processed.

[0021] The beneficial effects of the present invention include:

[0022] (1) The human-machine collaborative assembly method for the solar array of an aircraft solar wing proposed in the present invention, through the clear division of labor and collaborative cooperation of the task interface between man and machine, utilizes the repeatability and stability of the machine, gives full play to the intelligence and flexibility of human power, complements each other's advantages, improves the degree of digitization of the assembly task process, increases the fluency of operations, and releases the pressure of manpower demand. It can achieve the effect of safe, efficient, fast and accurate large-scale assembly of solar arrays to solar wings, improves the degree of digitization of the assembly process, reduces the number of implementation personnel required, and reduces the dependence on the proficiency of implementation personnel.

[0023] (2) The human-machine collaborative assembly method for the solar cell array of an aircraft solar wing proposed in the present invention takes human-machine collaboration as the core idea, sequentially and structuredly allocates the solar cell array assembly task flow, and distinguishes the working interface between the implementation personnel and the assembly system in the process, including pretreatment, coating, transportation, laying, pre-tightening, profiling, pressing, measurement and other links, which can effectively realize the rapid, efficient, safe and reliable effect of the assembly process of solar cell array components to the solar wing structure.

[0024] (3) The human-machine collaborative assembly method for the solar array of an aircraft solar wing proposed in the present invention allows the implementation personnel to focus on system control and some scenarios with high requirements for refinement, thereby solving the problems of dexterity and intelligent operation that the assembly system cannot achieve, improving the flexibility and adaptability of the system, and having the ability to deal with emergencies in the assembly task process; the assembly system drives the execution and completes the action implementation based on the built-in programs, algorithms, data, logic, etc., to achieve process operations with high repeatability and good consistency, and has the ability to upgrade permissions that can be directly taken over by the implementation personnel at any time, which not only gives full play to the intelligence, flexibility and adaptability of the implementation personnel's operations, but also effectively utilizes the accuracy and stability of machine execution.

[0025] (4) The human-machine collaborative assembly method for the solar array of an aircraft solar wing proposed in the present invention replaces repetitive and labor-intensive operations with machines or assembly systems, controls the consistency of assembly quality and the risk of human error, reduces the fatigue and stress of intensive operations on the implementation personnel, and improves the efficiency of the assembly process.

[0026] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic flow chart of the human-machine collaborative assembly method for an aircraft solar wing solar array proposed by the present invention.

[0029] Figure 2 The present invention is a flowchart of a specific implementation method of the human-machine collaborative assembly method of the aircraft solar wing solar array proposed by the present invention.

[0030] Figure 3 This is a schematic diagram of the bonding area of ​​an aircraft solar wing in a specific implementation of the human-machine collaborative assembly method for an aircraft solar wing solar array proposed by the present invention.

[0031] Figure 4 This is a schematic diagram of the bonding area of ​​the solar cell assembly corresponding to the aircraft solar wing in a specific implementation of the human-machine collaborative assembly method of the aircraft solar wing solar cell array proposed by the present invention.

[0032] Figure 5 This is a schematic diagram of the assembly process of an aircraft solar wing and solar cell assembly in a specific implementation of the human-machine collaborative assembly method of an aircraft solar wing solar cell array proposed by the present invention.

[0033] Figure 6 This is a schematic diagram of the final assembly of the aircraft solar wing and solar cell assembly in a specific implementation of the human-machine collaborative assembly method of the aircraft solar wing solar cell array proposed by the present invention. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0035] The present invention provides a human-machine collaborative assembly method for an aircraft solar wing solar cell array, such as Figure 1 As shown, including:

[0036] Pre-process and prepare the solar array components and solar wing assembly areas;

[0037] Scan the solar wing bonding area, plan to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area, and execute the first coating trajectory;

[0038] Profiling the curved surface of the solar wing, and transporting and laying out the components;

[0039] After the first bonding area is compacted, the second and third coating tracks are sequentially executed;

[0040] Preload and reduce wrinkles on components;

[0041] After the second and third bonding areas are pressed and consolidated in turn, the solar wing and the components are post-processed.

[0042] In the present invention, through the clear division of labor and coordinated cooperation of the task interface between man and machine, the repeatability and stability of the machine are utilized, the intelligence and flexibility of human power are brought into play, the advantages are complementary, the degree of digitization of the assembly task process is improved, the smoothness of the operation is increased, and the pressure of manpower demand is released. It is possible to achieve a safe, efficient, fast and accurate large-scale assembly effect of solar cell arrays to solar wings, improve the degree of digitization of the assembly process, reduce the demand for the number of implementers, and reduce the dependence on the proficiency of the implementers.

[0043] According to the present invention, pre-processing and preparing the solar array components and the solar wing assembly area includes:

[0044] S1: Pre-processing of solar array components and solar wing assembly areas;

[0045] S2; Prepare for transportation, fixing and transfer of components;

[0046] Scanning the solar wing bonding area, planning to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area, executing the first coating trajectory includes:

[0047] S3; performing arc scanning and adhesive coating trajectory planning on the solar wing bonding area to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area;

[0048] S4; pre-execution and correction update of each coating trajectory;

[0049] S5: formally execute the first coating track;

[0050] Profiling the curved surface of the solar wing, and transporting and laying out the components include:

[0051] S6: Perform surface fitting and profiling on the curved surface of the solar wing and perform gravity balance on the components; S7: Grab the components and transfer them to the assembly station;

[0052] S8: Laying out and assembling components and adjusting relative posture;

[0053] The first bonding area is compacted and consolidated including:

[0054] S9: rolling the first bonding area;

[0055] S10: cleaning the first bonding area of ​​the overflowed glue and continuously pressurizing and curing;

[0056] S11: Perform curing timing and secondary cleaning of the first bonding area;

[0057] S12: The first bonding area is cured;

[0058] Sequentially executing the second and third coating tracks includes:

[0059] S13: avoiding the interference space between the second and third bonding areas;

[0060] S14: formally implement the second and third coating tracks;

[0061] S15: restoring the fitting state of the components;

[0062] Pre-tensioning and wrinkle reduction of components includes:

[0063] S16; preload assembly;

[0064] S17; scanning the upper surface shape of the component;

[0065] S18; reducing component wrinkles and adjusting preload;

[0066] The step of sequentially pressing the second and third bonding areas comprises:

[0067] S19: rolling the second and third bonding areas;

[0068] S20: cleaning the second and third bonding areas of the adhesive overflow and continuously pressurizing and curing;

[0069] S21: Perform secondary cleaning of the overflow glue and curing timing on the second and third bonding areas;

[0070] S22: The second and third bonding areas are cured;

[0071] Post-processing of solar panels and components includes:

[0072] S23; scanning and saving the upper surface shape of the component for the second time;

[0073] S24; the assembly system moves to a new station;

[0074] S25: Perform manual post-processing on solar panels and components.

[0075] According to the present invention, S1, S2, S8, S10, S16, S18 and S20 are all human-machine collaborative operation steps. During the execution of the human-machine collaborative operation steps, the implementation personnel and the assembly system interact in time and space;

[0076] S3, S4, S5, S6, S7, S9, S14, S17, S19, S23 and S24 are all machine operation steps, that is, they are executed by the assembly system, and manual work only handles abnormalities and emergencies. During the execution of the machine operation steps, the implementation personnel and the assembly system do not work at the same time;

[0077] S11, S12, S13, S15, S21, S22 and S25 are all manually executed steps.

[0078] In the present invention, human-machine collaboration is taken as the core idea, the solar wing solar cell array assembly task process is sequentially and structuredly allocated, and the working interface of the implementation personnel and the assembly system in the process is distinguished, including pretreatment, coating, transportation, laying, pre-tightening, profiling, pressing, measurement and other links, which can effectively realize the fast, efficient, safe and reliable effect of the solar cell array component to the solar wing structure assembly process.

[0079] According to the present invention, the pre-processing in step S1 includes:

[0080] Use the pre-processing subsystem in the assembly system to complete the process and mechanized operation, which includes visual recognition of appearance, digital weight measurement and electrical performance testing;

[0081] Through the implementation personnel to complete the operation and abnormal situation handling of the process with high intelligence requirements, including flexible cable electrical installation, performance sampling inspection results review, and positioning mark design and selection;

[0082] Step S2 includes:

[0083] The transportation, handling and placement of components are completed by the assembly system;

[0084] The implementer is responsible for securely fixing the components on the optical platform to prepare for subsequent transportation.

[0085] According to the present invention, step S3 comprises:

[0086] The series of operations are completed by the corresponding subsystem of the assembly system according to the preset procedures. The implementation personnel do not actively intervene in the current process and only deal with emergency matters caused by abnormal alarms of the system;

[0087] After three-dimensional data scanning of the solar wing bonding area, each coating trajectory is calculated and obtained. Each coating trajectory is formed by multiple scans and sequential splicing, and contains spatial point cloud data. The coordinate form of the point cloud data (x, y, z) is:

[0088] According to the structural characteristics of the solar wing, the coating track is divided into a first coating track corresponding to the first bonding area, a second coating track corresponding to the second bonding area, and a third coating track corresponding to the third bonding area.

[0089] Preferably, step S4 comprises:

[0090] During the pre-execution of each coating trajectory, the actual trajectory is measured, recorded and solved again through the scanning function of the subsystem, the difference between the theoretical trajectory and the actual trajectory of pre-execution is compared, and the out-of-tolerance part is revised and compensated;

[0091] Revision compensation is performed using an online trajectory tracking and correction algorithm, the criteria of which are:

[0092]

[0093] Among them, P example (x p ,y p ,z p ) is a characteristic point in the first coating trajectory, (x t ,y t ,z t ) is the theoretical coordinate value, (x r ,y r ,z r ) is the corresponding actual scanning point in the pre-execution process, and ΔE is the deviation threshold setting range;

[0094] The strategy of the threshold control algorithm for revision compensation is:

[0095]

[0096] Among them, F min 、F max 、F cantact They are the minimum threshold, maximum threshold and measured value of the coating contact force. The coating contact force is recorded by the subsystem. For abnormal situations, the contact force monitoring will promptly remind the implementation personnel to carry out risk warning and identification judgment, and force intervention when necessary;

[0097] During the formal execution of the coating trajectory in steps S5 and S14, the online trajectory tracking and deviation correction algorithm and the contact force threshold control algorithm are executed, and the basic principles are consistent with the pre-execution.

[0098] In the present invention, the implementers focus their energy on system control and some scenarios with high requirements for refinement, solving the problems of dexterity and intelligent operation that the assembly system cannot achieve, improving the flexibility and adaptability of the system, and having the ability to deal with emergencies in the assembly task process; the assembly system drives the execution and completes the action implementation based on built-in programs, algorithms, data, logic, etc., to achieve process operations with high repeatability and good consistency, and has the ability to upgrade permissions that can be directly taken over by the implementers at any time, which not only gives full play to the intelligence, flexibility and adaptability of the implementers' operations, but also effectively utilizes the accuracy and stability of machine execution.

[0099] According to the present invention, step S6 comprises:

[0100] S6-1: While the coating subsystem is performing trajectory realization and coating operations, the profiling subsystem starts to execute synchronously. The profiling subsystem reuses the scanning data of the coating subsystem in three areas and performs profiling actions through surface fitting and interpolation algorithms;

[0101] S6-2: The entire curved surface is approximately represented by discrete points distributed in an array, which is used to balance the gravity of the components during the process of grabbing and laying the components by the transport subsystem, so as to avoid the accidental risk of falling or slipping and damage to the components;

[0102] The spatial force balance relationship when gravity is balanced is:

[0103]

[0104] Among them, 1, 2, ..., m are the discrete point numbers of the array distribution. When the profiling subsystem mechanism contacts the component, the torque effect is ignored, G solar =(0,0,G) is the gravity space vector form of the component, f i =(f xi ,f yi ,f zi ) is the discrete point contact friction force, F Ni =(F xi ,F yi ,F zi ) is the discrete point contact support force;

[0105] The strategy for the copycat action is:

[0106]

[0107] Among them, T is the profiling action time, T Lmit The upper limit of time means that the imitation action can be completed within the specified time, which is a normal state. If the response time exceeds the upper limit of time, it is an abnormal state. When an abnormal state occurs, the implementation personnel will intervene forcibly to handle it.

[0108] According to the present invention, step S8 comprises:

[0109] The placement of components and the relative position adjustment of assembly are completed through the collaboration between implementation personnel and assembly systems;

[0110] At the division of labor level, implementation personnel are responsible for confirming component placement status information and on-site adjustment control to make up for the dexterity, intelligence and adaptability of the assembly system. The assembly system completes the operation of specific instructions based on the instructions of implementation personnel.

[0111] Direct manipulation of components by implementation personnel when the assembly system cannot be completed;

[0112] Steps S9 and S19 include:

[0113] The rolling trajectory reuses the planned trajectory after the scanning data of the coating subsystem. Through the force-position hybrid control algorithm of the compaction subsystem, the bonding area on the wing rib is rolled under the protection of the contact force threshold to actively overflow the excess adhesive. The contact force control principle is the same as step S6.

[0114] According to the present invention, steps S10 and S20 include:

[0115] The implementers shall quickly wipe and clean the adhesive spilled during the rolling operation;

[0116] After wiping and cleaning, cooperate with the pressing subsystem to place the conformable pressing tool and curing pressing block in the area to be bonded in sequence, and maintain continuous curing for the set time;

[0117] Step S16 includes:

[0118] The preload subsystem adjusts the height of the preload discrete points according to the surface data of the coating subsystem and the profiling subsystem;

[0119] The implementer clamps the mechanical interface of the second side rib and the trailing edge of the component. After clamping, the pre-tightening operation is achieved through independent tension closed-loop control of discrete points;

[0120] The relationship used for preload is:

[0121] F stretchk -F exp |≤ΔF,k=1,2,…,n;

[0122] Among them, 1, 2, ..., n are the preload discrete point numbers, and the corresponding preload force is F Stretch1 、F Stretch2 ,……,F Stretchn , ΔF is the force control threshold, F exp is the expected value of preload force.

[0123] According to the present invention, steps S17, S18, and S23 include:

[0124] Obtaining the wing surface shape data of the component by three-dimensional data shape scanning;

[0125] Implementers will quantify the contour differences and evaluate the waviness through 3D data and visualization;

[0126] After assembling the components on the solar wing and adjusting the folds, a secondary data scan is performed and stored.

[0127] In the present invention, repetitive and labor-intensive operations are replaced by machines or assembly systems, which controls the consistency of assembly quality and the risk of manual misoperation, reduces the fatigue and stress effects of intensive operations on implementation personnel, and improves the efficiency of the assembly process.

[0128] The present invention will be described in more detail below by way of examples.

[0129] Embodiment 1:

[0130] like Figure 2 As shown, this embodiment proposes a human-machine collaborative assembly method for an aircraft solar wing solar cell array. The processes and operations involved in the process of the method include solar cell array component pretreatment, adhesive coating, component transportation, component pre-tightening, solar wing arc surface profiling, adhesive area pressing, upper wing surface measurement, etc.; from the perspective of the entire process, the solar cell array assembly system and the implementation personnel cooperate with each other to complete it;

[0131] The solar cell array assembly system is mainly composed of a mechatronic device with a computer as the control core, which is operated by the implementation personnel or executed by writing an execution program. It mainly cooperates with the implementation personnel to assemble the solar cell array components to the solar wing. The solar cell assembly system includes a pretreatment subsystem, a truss subsystem, a coating subsystem, a transfer subsystem, a pre-tightening subsystem, a profiling subsystem, a compaction subsystem, a measurement subsystem, a control subsystem, and a solar wing structure bearing tooling, etc.

[0132] In this embodiment, the specific steps of the method are as follows:

[0133] (1) S1~S2 pretreatment and preparation stage:

[0134] S1. Pretreatment of solar array components and solar wing assembly area:

[0135] S1-1, the pre-processing subsystem performs appearance inspection, weight test, and performance sampling inspection on the solar cell array components in sequence to determine whether the solar cell array components meet the qualified conditions for assembly to the aircraft solar wing;

[0136] S1-2. For solar array components that meet the qualification requirements, the implementation personnel shall conduct a secondary inspection and test, and record the data; for solar array components that do not meet the qualification requirements, they shall be centrally isolated and stored, awaiting relevant disposal;

[0137] S1-3. The implementation personnel shall perform cable pre-installation and component assembly mechanical interface processing on the solar cell array components that meet the requirements;

[0138] S1-4. The implementation personnel can add markers or select characteristic markers to the solar wing structure placed on the load-bearing tooling at S1-3 for related positioning and calibration during the assembly operation of the solar array components;

[0139] In this process: the implementation personnel cooperate with the pre-processing subsystem to complete the pre-processing work; the pre-processing subsystem completes the process-based and mechanized operations, such as visual appearance recognition, digital weight measurement, electrical performance testing, etc., such as S1-1; the implementation personnel complete the operations with high intelligence requirements and the handling of abnormal situations in the process, such as flexible cable electrical installation, performance sampling result review, positioning mark design and selection, etc., such as S1-2, S1-3, S1-4;

[0140] S2. Transportation, fixing and transportation preparation of solar array components:

[0141] S2-1, the solar array components passing through S1 are placed on the optical platform of the transport subsystem through the centralized transport channel and equipment;

[0142] S2-2. The implementation personnel flatten and align the solar cell array components on the optical platform and fix them with special fixtures, waiting for the next step;

[0143] In this process: the transportation, handling and placement of solar cell array components are all completed by the assembly system; the implementation personnel are responsible for reliably fixing the solar cell array components on the optical platform to prepare for subsequent transportation;

[0144] (2) S3~S5 coating trajectory scanning, planning and execution:

[0145] S3, arc surface scanning of solar wing bonding area and adhesive coating trajectory planning:

[0146] S3-1. The coating subsystem cooperates with the truss subsystem to first perform a three-dimensional data scan of the upper surface contour of the current solar wing assembly area corresponding to the solar cell array assembly; during the scanning process, due to the constraints of the wing rib arc surface and travel distance, the entire trajectory is scanned multiple times and spliced ​​in sequence;

[0147] S3-2, segmented trajectory data is processed by point cloud and trajectory planning algorithm in coating subsystem, and the center path is planned based on the structural characteristics of wing ribs;

[0148] According to the current solar wing assembly area segmentation, the coating scanning track is divided into three tracks, corresponding to three sub-areas; the first coating track FirstSpline corresponds to the first bonding area, that is, the first rib structure of the solar wing at the current station; the second coating track SecondSpline corresponds to the second bonding area, that is, the second rib structure of the solar wing at the current station; the third coating track LastSpline corresponds to the third bonding area, that is, the trailing edge structure of the solar wing at the current station;

[0149] Let the coordinate system of the current assembly area of ​​the aircraft solar wing be OXYZ, the current structure geometric center be the origin O, the OX axis be parallel to the central axis of the solar wing wing section beam, the OZ axis be vertically upward, and the OY axis be perpendicular to the XOZ plane and backward;

[0150] For each coating trajectory FirstSpline, SecondSpline and LastSpline, each trajectory may involve multiple splicing. Assuming that the number of scans is i, j, and k, taking FirstSpline as an example, the following relationship exists;

[0151] FirstSpline is formed by splicing FirstSpline1, FirstSpline2, ..., FirstSplinei through the overlapping areas of common points; each segment of the trajectory contains a large amount of spatial point cloud data, and the point cloud coordinates are in the form of (x, y, z);

[0152] In this process: a series of operations are performed by the corresponding subsystem of the assembly system according to the preset procedures. The implementation personnel do not actively intervene in the current process, but only deal with emergency matters such as abnormal system alarms;

[0153] S4. Pre-execution and correction update of coating trajectory:

[0154] The coating subsystem cooperates with the truss subsystem to perform the adhesive coating operation after scanning. According to the scanning data of the solar wing rib arc surface and the planned trajectory, the first rib is first coated with adhesive, that is, the first coating trajectory FirstSpline is executed; in the specific process of implementing the rib coating, it is divided into trajectory pre-execution and formal execution. During the execution process, the contact force FContact control is realized to reduce the risk of collision and protect the assembly system and the operation object;

[0155] The trajectory pre-execution mainly considers the influence of the accumulated comprehensive errors of the subsystem on the actual accuracy, and completes a pre-execution before the formal execution; the real operation is carried out according to the planned theoretical path, and the system sets the threshold detection to identify the coordinate points with large deviations, make early corrections and update the program; take a feature P in the FirstSpline trajectory as an example, and then perform the pre-execution. example (x p ,y p ,z p ) point as an example, the theoretical coordinate value is t ,y t ,z t ) First execute the corresponding actual scan in the process (x r ,y r ,z r ) point, ΔE is the deviation threshold setting range, and the calculation formula is as follows:

[0156]

[0157] During the pre-execution of the trajectory, the actual trajectory is measured, recorded and solved again through the scanning function of the subsystem, and the difference between the theoretical trajectory and the actual trajectory of the pre-execution is compared; and the out-of-tolerance part is revised and compensated. The revised trajectory is still recorded as FirstSpline, but its internal data has been revised and updated;

[0158] In addition to the posture information, the subsystem records the coating contact force. There are usually two situations for abnormal contact force: one is that the contact force FContact far exceeds the set threshold, and the other is that the contact force FContact is zero or extremely small. The former mainly monitors the collision between the weak rigid rib and the coating subsystem actuator, which is caused by excessive forward error; the latter is mainly affected by the reverse error, which causes the coating subsystem actuator to not fully contact the upper surface of the solar wing rib, resulting in accumulation or adhesion.

[0159] Contact force monitoring promptly reminds implementation personnel to conduct risk warning and identification and judgment, and enforces intervention when necessary. The strategies are as follows:

[0160]

[0161] S5, the first coating track is officially implemented:

[0162] The FirstSpline trajectory is formally executed. During the process, the subsystem still executes the online trajectory tracking and correction algorithm and the contact force threshold control algorithm. The basic principle is exactly the same as the pre-execution;

[0163] Due to the correction and calibration work performed in advance, the correction and calibration work is reduced during the formal implementation, and the efficiency is considerable; when there is a significant deviation, the subsystem corrects the deviation in real time and controls the contact force threshold to ensure the coating effect and avoid collision with the solar wing section and other damage to the workpiece;

[0164] In this process: all operations are completed by the subsystem, and the implementation personnel mainly carry out forced intervention to deal with sudden system stoppages and other unexpected situations;

[0165] (3) S6~S8 solar wing curved surface profiling and component transportation and placement:

[0166] S6, surface fitting and solar array component gravity balance:

[0167] S6-1, while the coating subsystem is performing trajectory realization and coating operations, the profiling subsystem starts to execute synchronously; the profiling subsystem reuses the scanning data of the coating subsystem in three areas, and performs profiling actions through surface fitting and interpolation algorithms;

[0168] S6-2, the entire curved surface is approximately represented by discrete points distributed in the array, which is used to balance the gravity G of the solar array components during the process of grabbing and laying the solar array components by the transport subsystem, so as to avoid accidental risks such as falling and slipping, which may damage the solar array components;

[0169] The discrete points of the array are numbered 1, 2, ..., m. When the profiling subsystem contacts the component, the influence of the moment is ignored. The gravity space vector form of the solar array component is G solar =(0,0,G) Discrete point contact friction Force, discrete point contact support force When in equilibrium, the following spatial force balance exists:

[0170]

[0171] The time of the profiling action is T, and the time limit is TLmit. If the profiling action is completed within the specified time, it is a normal state. If the response time exceeds the time limit, it is an abnormal state, and the implementation personnel must intervene to handle it.

[0172]

[0173] S7, Solar cell array components grabbing and transporting to the assembly station:

[0174] S7-1. The truss subsystem cooperates with the transport subsystem to quickly move and position near the optical platform to complete the rough positioning before grasping. After local precise positioning through multi-heterogeneous sensor information fusion and feedback information, the transport subsystem slowly grasps the solar cell array components.

[0175] S7-2, the transport subsystem quickly transports the solar cell array components to the vicinity of the waiting assembly station, that is, above the current solar wing structure, waiting for the next process to be executed;

[0176] S8. Relative position adjustment of solar cell array assembly placement and assembly:

[0177] S8-1. After the transfer subsystem completes the grabbing of the solar array components, it starts to lay them on the solar wing structure; the laying process is a human-machine collaborative process, and the implementation personnel and the assembly system cooperate to complete the laying operation; at the level of division of labor, the implementation personnel are mainly used to confirm the laying status (posture, etc.) information of the solar array components and adjust and control them on site, making up for the dexterity, intelligence and adaptability of the assembly system; the assembly system completes the operation of specific instructions according to the instructions of the implementation personnel;

[0178] If necessary, implementation personnel can directly operate the solar array components manually;

[0179] S8-2. After the components are laid, the implementation personnel will identify and match the positioning mark points again to determine whether the position of the solar array components is misaligned or out of tolerance, and make local adjustments to the abnormal status of the components;

[0180] (4) S9-S12 first bonding area compression:

[0181] S9, rolling of the first bonding area:

[0182] The pressing and consolidation phase is also a human-machine collaborative phase. After the S8 operation, the solar cell array assembly should be placed on the upper wing surface of the current wing section assembly area. The adhesive coating of the first side wing rib is completed and it is in direct contact with the solar cell array assembly. The pressing and consolidation subsystem cooperates with the truss subsystem to complete the rolling and curing operations in succession.

[0183] The bonding position between the solar cell array assembly and the first side wing rib is rolled. The rolling trajectory reuses the planned trajectory after the coating subsystem scans the data. Through the force-position hybrid control algorithm of the compaction subsystem, under the protection of the contact force threshold FContact, the bonding area on the wing rib is rolled to actively overflow the excess adhesive. The contact force control principle is the same as S6.

[0184] S10, cleaning of overflow glue in the first bonding area and continuous pressurization curing:

[0185] S10-1. After rolling is completed, the compaction subsystem is moved to a physically safe area in space, leaving space for operators to operate. The operators quickly wipe and clean the adhesive that overflows during the rolling operation. After completion, the curing operation begins.

[0186] S10-2, the compaction subsystem returns to the operation area again, and the implementation personnel place the conformable pressing tool and the curing pressing block in the compaction subsystem in the area to be bonded in sequence, and maintain continuous curing for a certain period of time;

[0187] S11. Curing timing of the first bonding area and secondary cleaning of overflow glue:

[0188] At the initial stage of curing, the implementers cleaned up the overflowed glue during pressurized curing for a second time and recorded the cumulative curing time Tg1;

[0189] S12, the first bonding area is cured:

[0190] After the curing time Tg1 meets the shortest operable time Tglimt1, the implementers take away the press and curing blocks and prepare to operate the second side rib and trailing edge rib area;

[0191] (5) S13-S15 The second coating track is executed:

[0192] S13, Interference space avoidance between the second and third bonding areas:

[0193] Carry out the assembly of the second side wing rib and the trailing edge wing rib of the solar cell array module. Before the coating operation, the implementation personnel will avoid the contact area between the second side wing rib and the trailing edge structure of the solar cell array module to provide operating space for the coating subsystem, and then resume after the coating is completed;

[0194] S14, the second and third coating tracks are officially implemented:

[0195] Same as S5, the coating subsystem coats the second side rib and the trailing edge according to the pre-planned trajectory, i.e., executes SecondSpline and LastSpline;

[0196] S15, Solar cell array assembly bonding status recovery:

[0197] After the second and third coating tracks have completed the adhesive coating, the implementers will restore the solar array assembly to the second side wing rib and the trailing edge structure;

[0198] (6) Pre-tightening and wrinkle reduction of S16~S18 components:

[0199] S16, Solar cell array component pre-tightening:

[0200] The pre-tightening subsystem adjusts the height of the pre-tightening discrete points according to the surface data of the coating subsystem and the profiling subsystem. The implementers clamp the pre-tightening points to the mechanical interface between the second side rib and the rear edge of the solar cell array component, and fine-tune the relative position between the pre-tightening plane and the solar cell array component. After the clamping is completed, the pre-tightening operation is realized through the independent tension closed-loop control of the discrete points.

[0201] The preload discrete points are numbered 1, 2, ..., n, and the corresponding preload forces are FStretch1, FStretch2, ..., FStretchn. The force control threshold is ΔF, and the expected value of the preload force is Fexp. The relationship is as follows:

[0202] |F stretchk -F exp |≤ΔF,k=1,2,…,n;

[0203] S17, Scanning of the top surface of solar cell array components:

[0204] The measurement subsystem quickly scans the upper wing surface shape data for the solar cell array components in the pre-tightened state at the current workstation. The implementation personnel quantify the contour difference and evaluate the waviness through 3D data and visualization.

[0205] S18, Solar cell array component wrinkle reduction and preload adjustment:

[0206] For areas with concentrated wrinkles, obvious ripples, and contour out-of-tolerance on the surface of solar cell array components, personnel control the corresponding subsystems to adjust the tension force and direction to reduce and control wrinkles;

[0207] (7) S19~S22 Second and third bonding areas are compacted:

[0208] S19, rolling of the second and third bonding areas:

[0209] After the pre-tightening subsystem and the measuring subsystem complete the above operations, the compaction subsystem performs rolling and curing of the second and third bonding areas in the same manner as S9;

[0210] S20, cleaning of overflow glue in the second and third bonding areas and continuous pressurization curing:

[0211] Same as S10, cleaning the second and third bonding areas for excess glue and continuously pressurizing and curing;

[0212] S21, secondary cleaning and curing timing of overflow glue in the second and third bonding areas;

[0213] Same as S11, during the pressurized curing period, the implementer cleans up the secondary overflow glue and calculates the cumulative curing time Tg2;

[0214] S22, the second and third bonding areas are cured:

[0215] After the curing time Tg2 meets the shortest operable time Tglimt2, the pre-tightening subsystem is adjusted to the zero-position relaxation state, and the implementer releases the pre-tightening clamping point, ends the clamping, and removes the press and curing weight;

[0216] (8) Post-processing of S23~S25 solar panels and solar array components:

[0217] S23. Secondary scanning and preservation of the upper surface shape of the solar cell array component:

[0218] After the solar cell array assembly is completed in S22, the measurement subsystem measures the shape data again and saves the shape data for backtracking;

[0219] S24, assembly system moves to new station:

[0220] The assembly system completes the solar array assembly task at the current station, and each subsystem is replaced to the next solar wing and solar array assembly station;

[0221] In the process of assembly system operation, in addition to the human-machine collaboration of the implementation personnel, various operations are realized by the cooperation of the control subsystem hardware and software programs;

[0222] S25, Manual post-processing of solar panels and solar array components:

[0223] Post-processing is performed by the implementation personnel to clean up the excess materials, including the assembly interfaces added during the pre-processing of the solar array components, etc., and the removal of the excess materials that are not finally installed on the solar panels;

[0224] The human-machine collaborative assembly process of the current solar wing assembly station is completed;

[0225] In this embodiment, the aircraft solar wing bonding area, the aircraft solar wing corresponding to the solar cell module bonding area, the aircraft solar wing and the solar cell module assembly process, and the final assembly of the aircraft solar wing and the solar cell module are shown in the following diagrams respectively. Figure 3 , Figure 4 , Figure 5 and Figure 6 shown.

[0226] The human-machine collaborative assembly method for aircraft solar wing solar cell arrays proposed in the embodiments of the present invention, through the clear division of labor and collaborative cooperation in the task interface between man and machine, utilizes the repeatability and stability of the machine, gives full play to the intelligence and flexibility of manpower, complements each other's advantages, improves the degree of digitization of the assembly task process, increases the smoothness of operations, releases the pressure of manpower demand, and can achieve safe, efficient, fast and accurate large-scale assembly of solar cell arrays to solar wings.

[0227] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A human-machine collaborative assembly method for an aircraft solar wing solar array, characterized in that: include: Pre-process and prepare the solar array components and solar wing assembly areas; Scan the solar wing bonding area, plan to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area, and execute the first coating trajectory; Profiling the curved surface of the solar wing, and transporting and laying out the components; After the first bonding area is pressed and consolidated, the second and third coating tracks are sequentially performed; Pre-tightening and wrinkle-reducing the assembly; After the second and third bonding areas are pressed and consolidated in sequence, the solar wing and the assembly are post-processed.

2. The method according to claim 1, characterized in that Pretreatment and preparation of the solar array components and solar wing assembly area include: S1: Pre-processing the solar array components and solar wing assembly area; S2; Prepare for transportation, fixing and transfer of components; Scanning the solar wing bonding area, planning to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area, executing the first coating trajectory includes: S3: Perform arc surface scanning and adhesive coating trajectory planning on the solar wing bonding area to obtain a first coating trajectory corresponding to the first bonding area, a second coating trajectory corresponding to the second bonding area, and a third coating trajectory corresponding to the third bonding area; S4; pre-execution and correction update of each coating track; S5: formally executing the first coating trajectory; Profiling the curved surface of the solar wing and transporting and laying the components include: S6: Performing surface fitting and profiling on the curved surface of the solar wing and performing gravity balancing on the component; S7: Grab the components and transfer them to the assembly station; S8: Laying out and assembling the components and adjusting their relative posture; Pressing and consolidating the first bonding area includes: S9: rolling the first bonding area; S10: cleaning the first bonding area of ​​the adhesive overflow and continuously pressurizing and curing; S11: performing curing timing and secondary cleaning of the first bonding area; S12: The first bonding area is cured; Sequentially executing the second and third coating tracks includes: S13: avoiding the interference space between the second and third bonding areas; S14: formally implement the second and third coating tracks; S15: restoring the fitting state of the components; Pre-tensioning and wrinkle reduction of the assembly includes: S16; pre-tighten the assembly; S17; scanning the upper surface shape of the component; S18; reducing wrinkles on the component and adjusting the preload; Sequentially pressing and consolidating the second and second bonding areas includes: S19: rolling the second and third bonding areas; S20: cleaning the second and third bonding areas of the adhesive overflow and continuously pressurizing and curing; S21: Perform secondary cleaning of the overflow glue and curing timing on the second and third bonding areas; S22: The second and third bonding areas are cured; Post-processing the solar wing and the components includes: S23: Scan and save the upper surface shape of the component for the second time; S24; the assembly system moves to a new station; S25: Performing manual post-processing on the solar panels and components.

3. The method according to claim 2, characterized in that S1, S2, S8, S10, S16, S18 and S20 are all human-machine collaborative operation steps. During the execution of the human-machine collaborative operation steps, the implementation personnel and the assembly system interact in time and space; S3, S4, S5, S6, S7, S9, S14, S17, S19, S23 and S24 are all machine operation steps, i.e., they are executed by the assembly system, and only abnormal and emergency situations are handled manually. During the execution of the machine operation steps, the implementation personnel and the assembly system do not work at the same time; S11, S12, S13, S15, S21, S22 and S25 are all manually executed steps.

4. The method according to claim 2, characterized in that: The preprocessing in step S1 includes: Use the pre-processing subsystem in the assembly system to complete the process and mechanized operation, which includes visual recognition of appearance, digital weight measurement and electrical performance testing; Through the implementation personnel to complete the operation and abnormal situation handling of the process with high intelligence requirements, including flexible cable electrical installation, performance sampling inspection results review, and positioning mark design and selection; Step S2 includes: The transportation, handling and placement of the components are accomplished by the assembly system; The implementer is responsible for securely fixing the components on the optical platform to prepare for subsequent transportation.

5. The method according to claim 2, characterized in that: Step S3 includes: The series of operations are completed by the corresponding subsystem of the assembly system according to the preset procedures. The implementation personnel do not actively intervene in the current process and only deal with emergency matters caused by abnormal alarms of the system; After performing a three-dimensional data scan on the solar wing bonding area, each coating track is calculated and obtained. Each coating track is formed by multiple scans and sequential splicing, and contains spatial point cloud data. The coordinate form of the point cloud data (x, y, z) is: According to the structural characteristics of the solar wing, the coating track is divided into a first coating track corresponding to the first bonding area, a second coating track corresponding to the second bonding area, and a third coating track corresponding to the third bonding area.

6. The method according to claim 5, characterized in that Step S4 includes: During the pre-execution of each coating trajectory, the actual trajectory is measured, recorded and solved again through the scanning function of the subsystem, the difference between the theoretical trajectory and the actual trajectory of pre-execution is compared, and the out-of-tolerance part is revised and compensated; The revision compensation is performed using an online trajectory tracking and correction algorithm, the criterion of which is: Among them, P example (x p ,y p ,z p ) is a characteristic point in the first coating trajectory, (x t ,y t ,z t ) is the theoretical coordinate value, (x r ,y r ,z r ) is the corresponding actual scanning point in the pre-execution process, and ΔE is the deviation threshold setting range; The strategy of the threshold control algorithm for the revised compensation is: Among them, F min 、F max 、F cantact They are the minimum threshold, maximum threshold and measured value of the coating contact force. The coating contact force is recorded by the subsystem. For abnormal situations, the contact force monitoring will promptly remind the implementation personnel to carry out risk warning and identification judgment, and force intervention when necessary; During the formal execution of the coating trajectory in steps S5 and S14, the online trajectory tracking and deviation correction algorithm and the contact force threshold control algorithm are executed, and the basic principles are consistent with the pre-execution.

7. The method according to claim 2, characterized in that Step S6 includes: S6-1: While the coating subsystem is performing trajectory realization and coating operations, the profiling subsystem starts to execute synchronously. The profiling subsystem reuses the scanning data of the coating subsystem in three areas and performs profiling actions through surface fitting and interpolation algorithms; S6-2: The entire curved surface is approximately represented by discrete points distributed in an array, so as to balance the gravity of the component during the process of grabbing and laying the component by the transport subsystem, thereby avoiding the accidental risk of falling or slipping and damaging the component; The spatial force balance relationship when gravity is balanced is: Among them, 1, 2, ..., m are the discrete point numbers of the array distribution. When the profiling subsystem mechanism contacts the component, the torque effect is ignored, G solar =(0,0,G) is the gravity space vector form of the component, is the discrete point contact friction, is the discrete point contact support force; The strategy of the profiling action is: Among them, T is the profiling action time, T Lmit The upper limit of time means that the imitation action can be completed within the specified time, which is a normal state. If the response time exceeds the upper limit of time, it is an abnormal state. When the abnormal state occurs, the implementation personnel will intervene forcibly to handle it.

8. The method according to claim 6, characterized in that Step S8 includes: The placement of the components and the relative posture adjustment of the assembly are completed through the cooperation of the implementation personnel and the assembly system; At the division of labor level, the implementation personnel are responsible for confirming the information of the component placement status and adjusting and controlling it on site, so as to make up for the dexterity, intelligence and adaptability of the assembly system. The assembly system completes the operation of specific instructions according to the instructions of the implementation personnel. When the assembly system cannot be completed, the implementation personnel directly operate the components; Steps S9 and S19 include: The rolling trajectory reuses the planned trajectory after the scanning data of the coating subsystem. Through the force-position hybrid control algorithm of the compaction subsystem, the bonding area on the wing rib is rolled under the protection of the contact force threshold to actively overflow the excess adhesive. The contact force control principle is the same as step S6.

9. The method according to claim 7, characterized in that: Steps S10 and S20 include: The implementers shall quickly wipe and clean the adhesive spilled during the rolling operation; After the wiping and cleaning are completed, the pressing subsystem is cooperated to place the conformable pressing tool and the curing pressing block in the area to be bonded in sequence, and the continuous curing is maintained for a set time; Step S16 includes: The preload subsystem adjusts the height of the preload discrete points according to the surface data of the coating subsystem and the profiling subsystem; The implementer clamps the mechanical interface of the second side rib and the trailing edge of the component. After the clamping is completed, the pre-tightening operation is realized through the independent tension closed-loop control of discrete points; The relationship used for the preload is: Among them, 1, 2, ..., n are the preload discrete point numbers, and the corresponding preload force is F Stretch1 、F Stretch2 ,……,F Stretchn , ΔF is the force control threshold, F exp is the expected value of preload force.

10. The method according to claim 2, characterized in that Steps S17, S18, and S23 include: Acquire the wing surface shape data of the component by three-dimensional data shape scanning; Implementers will quantify the difference in contour and evaluate the waviness through 3D data and visualization; After the assembly is assembled on the solar wing and the folds are adjusted, a secondary data scan is performed and stored.

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