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

Abstract

The application relates to the technical field of aircraft assembly, and particularly discloses a man-machine cooperative assembly method for a solar cell array of an aircraft solar wing, which comprises the following steps: pretreating and preparing a solar cell array component and a solar wing assembly area; scanning and planning a solar wing gluing area to obtain three corresponding gluing areas and three corresponding coating tracks, and executing a first coating track; profiling an arc surface of the solar wing, and transferring and laying the component; after the first gluing area is compressed and fixed, executing a second coating track and a third coating track in sequence; pre-tightening and reducing the wrinkles of the component; after the second and third gluing areas are compressed and fixed in sequence, post-processing the solar wing and the component. Through clear division of labor and cooperative matching of the man-machine task interface, the repeatability and stability of the machine are utilized, the intelligence and flexibility of manpower are exerted, advantages are complemented, the digital degree of the assembly task process is improved, the operation smoothness is increased, and the manpower demand pressure is released.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft assembly, in particular to a human-computer collaborative assembly method for a solar array of an aircraft solar wing. BACKGROUND

[0002] The surface of an aircraft solar wing is covered with a large-area solar array, which obtains external natural energy through photoelectric conversion during the day to provide the required power for power systems, integrated avionics systems, and load systems. For some special aircraft, such as solar-powered unmanned aerial vehicles, the solar array is not only a functional component for photoelectric conversion, but also a skin that bears aerodynamic loads.

[0003] Solar array components are lightweight, flexible, and expensive. Aircraft often have strict weight requirements, so thin-film encapsulation is generally used. Thin-film solar array components are a kind of power generation device that uses high-molecular thin film as an encapsulation material, with solar cell monomers inside, electrical interconnection, and diode components. The whole is formed by one-time lamination under specific temperature and pressure. The solar wing of an aircraft is connected in segments, and each segment of the solar wing structure is composed of ribs, main beams, and trailing edges. The main material of the solar wing is a composite material composed of carbon fiber and epoxy resin, which is connected by adhesive. The solar array components are installed and fastened on the designated area of the solar wing according to the design requirements, which completes the solar array assembly of the solar wing. Before the solar array assembly of the solar wing is carried out, the solar array is placed in the form of discrete components.

[0004] Although thin-film solar arrays are advanced and have obvious advantages, there are still some challenges and problems in their use, especially in assembly. Currently, all aspects of the solar array assembly process of the aircraft solar wing are completed by manual labor. Although this can meet the current needs, there are still several aspects that need to be considered:

[0005] (1) The assembly efficiency is not high, the development cycle is long, and the time plan is under pressure;

[0006] (2) It depends on the experience of the operator and requires proficiency;

[0007] (3) The number of operators required is large, the work is concentrated, intensive, and intense, and the personnel are prone to fatigue;

[0008] (4) The process is not digitized and intelligent enough;

[0009] (5) It is difficult to ensure quality consistency, and control means and ability are lacking;

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

[0011] Therefore, in order to further improve the assembly efficiency of the solar cell array of the solar wing of the spacecraft, ensure the quality consistency, reduce the dependence of the assembly process on the experience and quantity of the operators, optimize the development cycle, enhance the plan buffer and fault tolerance capability, it is crucial to research a new assembly method or process of the solar cell array of the solar wing of the spacecraft in combination with digital and intelligent means and methods.

[0012] Based on the technical background, the present application researches a man-machine collaborative assembly method of the solar cell array of the solar wing of the spacecraft. SUMMARY

[0013] In view of the deficiencies of the prior art, the present application provides a man-machine collaborative assembly method of the solar cell array of the solar wing of the spacecraft, which clearly divides the tasks of man and machine through the task interface of man and machine, utilizes the repeatability and stability of the machine, and gives play to the intelligence and flexibility of manpower, so as to complement each other's advantages, improve the digital degree of the assembly task process, increase the smoothness of the operation, release the pressure of the manpower demand, and can realize the safe, efficient, rapid and accurate large-scale assembly effect of the solar cell array to the solar wing.

[0014] In order to achieve the above-mentioned purpose, the present application provides a man-machine collaborative assembly method of the solar cell array of the solar wing of the spacecraft, comprising:

[0015] Preprocessing and preparation are performed on the solar cell array components and the solar wing assembly area;

[0016] The solar wing bonding area is scanned and planned to obtain a first coating track corresponding to a first bonding area, a second coating track corresponding to a second bonding area, and a third coating track corresponding to a third bonding area, and the first coating track is executed;

[0017] The arc surface of the solar wing is profiled, and the components are transferred and laid;

[0018] After the first bonding area is pressed and solidified, the second and third coating tracks are executed in sequence;

[0019] The components are pre-tightened and wrinkle-reduced;

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

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

[0022] (1) The aircraft solar wing solar cell array man-machine collaborative assembly method provided by the present application realizes safe, efficient, rapid and accurate large-scale assembly of the solar cell array to the solar wing through the clear division and collaborative cooperation of the task interface between man and machine, the repeatability and stability of the machine, the intelligence and flexibility of human power, complementary advantages, improved digitalization degree of the assembly task process, increased operation smoothness, and released human demand pressure.

[0023] (2) The aircraft solar wing solar cell array man-machine collaborative assembly method provided by the present application takes man-machine collaboration as the core idea, sequentially and structurally allocates the solar wing solar cell array assembly task process, and distinguishes the work interface of the implementation personnel and the assembly system, including preprocessing, coating, transfer, laying, pre-tightening, profiling, solidifying, measurement and other links, which can effectively realize the rapid and efficient, safe and reliable effect of the solar cell array component to the solar wing structure assembly process.

[0024] (3) The aircraft solar wing solar cell array man-machine collaborative assembly method provided by the present application focuses the energy of the implementation personnel on system control and some fine and high-demand scenarios, solves the dexterous and intelligent operation problems that the assembly system cannot realize, improves the flexibility and adaptability of the system, and has the ability to solve sudden situations in the assembly task process; the assembly system drives the action implementation according to the built-in program, algorithm and data, logic, etc., realizes the process operation with high repeatability and good consistency, and has the permission upgrade ability of being directly taken over by the implementation personnel at any time, which not only plays the intelligence, flexibility and adaptability of the implementation personnel operation, but also effectively utilizes the accuracy and stability of the machine execution.

[0025] (4) The aircraft solar wing solar cell array man-machine collaborative assembly method provided by the present application replaces the repetitive and labor-intensive operations by machines or assembly systems, controls the assembly quality consistency and human error risk, reduces the fatigue pressure impact of intensive operations on the implementation personnel, and improves the assembly process efficiency.

[0026] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0027] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of exemplary embodiments of the present application taken in conjunction with the accompanying drawings.

[0028] Figure 1 The flowchart of the aircraft solar wing solar cell array man-machine collaborative assembly method provided by the present application.

[0029] Figure 2 A flowchart of one embodiment of the aircraft solar wing solar cell array man-machine collaborative assembly method proposed by the present application.

[0030] Figure 3 A schematic diagram of the aircraft solar wing bonding area in one embodiment of the aircraft solar wing solar cell array man-machine collaborative assembly method proposed by the present application.

[0031] Figure 4 A schematic diagram of the aircraft solar wing corresponding solar cell assembly bonding area in one embodiment of the aircraft solar wing solar cell array man-machine collaborative assembly method proposed by the present application.

[0032] Figure 5 A schematic diagram of the aircraft solar wing and solar cell assembly assembly process in one embodiment of the aircraft solar wing solar cell array man-machine collaborative assembly method proposed by the present application.

[0033] Figure 6 A schematic diagram of the final assembly of the aircraft solar wing and solar cell assembly in one embodiment of the aircraft solar wing solar cell array man-machine collaborative assembly method proposed by the present application. DETAILED DESCRIPTION

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

[0035] The present application provides an aircraft solar wing solar cell array man-machine collaborative assembly method, as shown in Figure 1 comprising:

[0036] Pre-treating and preparing the solar cell array assembly and the solar wing assembly area;

[0037] Scanning the solar wing bonding area to obtain a first coating track corresponding to a first bonding area, a second coating track corresponding to a second bonding area, and a third coating track corresponding to a third bonding area, and executing the first coating track;

[0038] Profiling the camber surface of the solar wing, and transporting and laying the assembly;

[0039] After the first bonding area is solidified, the second and third coating tracks are executed in sequence;

[0040] Pre-tightening and wrinkle reduction of the assembly;

[0041] After the second and second bonding areas are solidified in sequence, the solar wing and the assembly are post-processed.

[0042] In the present application, through the clear division of labor and cooperation of the human-machine task interface, the repeatability and stability of the machine are utilized, the intelligence and flexibility of human power are exerted, the advantages are complementary, the digitalization degree of the assembly task process is improved, the operation fluency is increased, the human demand pressure is released, the safe and efficient, rapid and accurate large-scale assembly effect of the solar cell array to the solar wing can be realized, the digitalization degree of the assembly process is improved, the number of personnel required is reduced, and the dependence on the proficiency of the implementers is reduced.

[0043] According to the present application, the pretreatment and preparation of the solar cell array component and the solar wing assembly area include:

[0044] S1;The solar cell array component and the solar wing assembly area are pretreated;

[0045] S2;Component transportation, fixation and transfer preparation;

[0046] The first coating track corresponding to the first bonding area, the second coating track corresponding to the second bonding area and the third coating track corresponding to the third bonding area are obtained by scanning and planning the solar wing bonding area, and the first coating track includes:

[0047] S3;Arc surface scanning and adhesive coating track planning are performed on the solar wing bonding area to obtain the first coating track corresponding to the first bonding area, the second coating track corresponding to the second bonding area and the third coating track corresponding to the third bonding area;

[0048] S4;Each coating track is pre-executed and corrected and updated;

[0049] S5;The first coating track is formally executed;

[0050] The arc surface of the solar wing is profiled, and the component is transferred and laid including:

[0051] S6;The arc surface of the solar wing is profiled, and the component is transferred and laid including:

[0052] S8;The component is laid and the relative pose of the assembly is adjusted;

[0053] The first bonding area is pressed and solidified including:

[0054] S9;The first bonding area is rolled and pressed;

[0055] S10;The first bonding area is overflowed, cleaned and continuously pressed and solidified;

[0056] S11;The first bonding area is solidified and timed, and the overflowed adhesive is cleaned again;

[0057] S12; the first bonding area curing is completed;

[0058] The second and third coating tracks are executed in sequence, including:

[0059] S13; the interference space of the second and third bonding areas is avoided;

[0060] S14; the second and third coating tracks are formally executed;

[0061] S15; the assembly is restored to the bonding state;

[0062] The assembly is pre-tightened and crease-reduced, including:

[0063] S16; the assembly is pre-tightened;

[0064] S17; the upper surface contour of the assembly is scanned;

[0065] S18; the assembly crease is reduced and the pre-tightening force is adjusted;

[0066] The second and third bonding areas are sequentially pressed and solidified, including:

[0067] S19; the second and third bonding areas are rolled;

[0068] S20; the second and third bonding areas are overflow cleaned and continuously pressed and solidified;

[0069] S21; the second and third bonding areas are overflow cleaned and solidified for a second time;

[0070] S22; the second and third bonding areas are solidified;

[0071] The solar wing and the assembly are post-processed, including:

[0072] S23; the upper surface contour of the assembly is scanned for a second time and saved;

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

[0074] S25; the solar wing and the assembly are manually post-processed.

[0075] According to the present application, S1, S2, S8, S10, S16, S18 and S20 are man-machine collaborative operation steps, and during the execution of the man-machine collaborative operation steps, the implementer 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, the assembly system is executed, and manual operation is only for handling exceptions and emergencies, and in the process of executing the machine operation steps, the implementer and the assembly system do not exist simultaneous operation in time;

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

[0078] In the application, the human-machine cooperation is taken as the core idea, the solar wing solar cell array assembly task flow is sequentially and structurally allocated, and the working interfaces of the implementer and the assembly system in the process are distinguished, including preprocessing, coating, transfer, laying, pre-tightening, profiling, pressing, measurement and the like, so that the solar cell array component to the solar wing structure assembly process can be quickly and efficiently and safely and reliably realized.

[0079] According to the application, the preprocessing in step S1 includes:

[0080] The preprocessing subsystem in the assembly system is used to complete the flow operation and the mechanical operation, and the operation includes visual identification, digital weight measurement and electrical performance detection;

[0081] The implementer is used to complete the operation with high intelligent degree and handle the abnormal situation in the process, and the operation includes flexible cable electrical installation, performance sampling inspection result auditing, and positioning mark design and selection;

[0082] Step S2 includes:

[0083] The assembly system is used to complete the transportation, carrying and placing of the component;

[0084] The implementer is responsible for reliably fixing the component on the optical platform for preparing for subsequent transfer.

[0085] According to the application, step S3 includes:

[0086] The implementer does not actively intervene in the current process, and only handles the emergency matters of the system abnormal alarm, and the series of operations are completed by the corresponding subsystem of the assembly system according to the preset program;

[0087] After the three-dimensional data scanning of the solar wing bonding area, each segment of the coating track is calculated, each segment of the coating track is formed by multiple scanning and sequential splicing, and contains spatial point cloud data, and the coordinate form (x, y, z) of the point cloud data is;

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

[0089] Preferably, step S4 comprises:

[0090] During the pre-execution of each coating track, the real track is measured, recorded and calculated again by the scanning function of the subsystem, the difference between the theoretical track and the pre-executed real track is compared, and the compensation is revised for the over-difference part;

[0091] The revision compensation is performed by using an online track tracking and deviation correction algorithm, and the criterion of the algorithm is:

[0092]

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

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

[0095]

[0096] Wherein, F min , F max , F cantact are respectively a minimum threshold, a maximum threshold and a measured value of the coating contact force, the coating contact force is recorded by the subsystem, and for abnormal conditions, the contact force monitoring timely reminds the implementer to perform risk early warning and identification judgment, and forcibly intervenes if necessary;

[0097] The coating track in steps S5 and S14 is executed in the formal execution process, the online track 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 application, the implementer focuses on system control and some fine scenes with high requirements, solves the problems of dexterity and intelligent operation that cannot be realized by the assembly system, improves the flexibility and adaptability of the system, and has the ability to solve the sudden situation in the assembly task process; the assembly system drives the execution and completes the action implementation according to the built-in program, algorithm and data, logic, etc., realizes the process operation with high repeatability and good consistency, and has the permission upgrade ability of being directly taken over by the implementer at any time, which not only plays the intelligence, flexibility and adaptability of the implementer operation, but also effectively utilizes the accuracy and stability of the machine execution.

[0099] According to the application, the step S6 comprises:

[0100] S6-1: The profiling subsystem starts to execute synchronously while the coating subsystem is performing trajectory realization and coating operation, the profiling subsystem multiplexes the scanning data of the coating subsystem in three areas to execute profiling action through surface fitting and interpolation algorithm;

[0101] S6-2: The entire surface is approximated by array-distributed discrete points, which are used to balance the gravity of the component during the transfer subsystem gripping component and the laying process, to avoid the risk of falling, slipping and damaging the component;

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

[0103]

[0104] Wherein, 1, 2, …, m are the serial numbers of the array-distributed discrete points, when the profiling subsystem mechanism contacts the component, the moment of force is ignored, G solar =(0, 0, G) is the space vector form of the gravity of the component, f i =(f xi ,f yi ,f zi ) is the contact friction force of the discrete points, F Ni =(F xi ,F yi ,F zi ) is the contact support force of the discrete points;

[0105] The strategy of the profiling action is:

[0106]

[0107] Wherein, T is the profiling action time, T Lmit is the upper limit of time, the profiling action is completed within the specified time, which is the normal state, and the response time exceeds the upper limit of time, which is the abnormal state, when the abnormal state occurs, the implementer intervenes to handle.

[0108] According to the application, the step S8 comprises:

[0109] The implementer and the assembly system cooperate to complete the laying and assembly of the component and the relative pose adjustment operation;

[0110] At the division level, the implementer is used to confirm the component laying state information and on-site adjustment control, to make up for the dexterity, intelligence and adaptability of the assembly system, and the assembly system completes the specific instruction operation according to the implementer's instruction;

[0111] Direct operation of the assembly by the implementer when the assembly system cannot be completed;

[0112] Steps S9, S19 include:

[0113] The roll trajectory multiplex coating subsystem scans the planned trajectory after the data, and through the force-position hybrid control algorithm of the roll pressing subsystem, the excess adhesive is actively overflowed on the bonding area of the roll rib under the protection of the contact force threshold, and the contact force control principle is synchronized with step S6.

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

[0115] The implementer performs rapid wiping and cleaning for the adhesive overflowed during the roll pressing operation;

[0116] After the wiping and cleaning are completed, the conforming press and the curing press block are placed in the area to be bonded in sequence by cooperating with the press subsystem, and the continuous curing is maintained for a set period of time.

[0117] Step S16 includes:

[0118] The pre-tightening subsystem adjusts the height of the pre-tightening discrete points according to the coating subsystem and the profiling subsystem curve data;

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

[0120] The relationship for pre-tightening is:

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

[0122] Wherein, 1, 2, …, n are the serial numbers of the pre-tightening discrete points, and the corresponding pre-tightening force is F Stretch1 , F Stretch2 , …, F Stretchn , ΔF is the force control threshold, and F exp is the pre-tightening force expected value.

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

[0124] The upper surface profile data of the assembly is obtained by three-dimensional data profile scanning method;

[0125] The implementer quantifies the profile contour difference by three-dimensional data and visual method to evaluate the waviness;

[0126] After the assembly is assembled on the solar wing and the wrinkles are adjusted, the secondary data scanning and storage are performed.

[0127] In the present application, the repetitive and labor-intensive operation is replaced by a machine or an assembly system, the assembly quality consistency and the risk of manual misoperation are controlled, the fatigue stress influence of intensive operation on the implement personnel is reduced, and the assembly process efficiency is improved.

[0128] The present application will be described in more detail by the following examples.

[0129] Example 1

[0130] As shown in Figure 2 The present embodiment proposes a method for human-computer collaborative assembly of a solar array of a solar wing of a spacecraft. The processes and operations involved in the method include solar array component pretreatment, adhesive coating, component transfer, component pre-tightening, solar wing camber profiling, adhesive area compression, and upper wing surface measurement. From the entire process, the solar array assembly system and the implement personnel cooperate with each other to complete the assembly.

[0131] The solar array assembly system mainly includes a computer-controlled mechatronic device, which is operated by the implement personnel or through a programmed execution procedure. The solar array assembly system mainly cooperates with the implement personnel to assemble the solar array components to the solar wing. The solar array assembly system corresponds to a pretreatment subsystem, a truss subsystem, a coating subsystem, a transfer subsystem, a pre-tightening subsystem, a profiling subsystem, a compression subsystem, a measurement subsystem, a control subsystem, and a solar wing structure bearing tool.

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

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

[0134] S1, solar array component and solar wing assembly area pretreatment:

[0135] S1-1, the pretreatment subsystem sequentially performs appearance detection, weight testing, and performance sampling on the solar array components to determine whether the solar array components meet the qualified conditions for assembly to the solar wing of the spacecraft.

[0136] S1-2, the implement personnel performs secondary inspection on the solar array components that meet the qualified conditions and records the data. The solar array components that do not meet the qualified conditions are uniformly and centrally isolated and stored for disposal.

[0137] S1-3, the implement personnel performs cable pre-assembly and component assembly mechanical interface processing on the solar array components that meet the conditions.

[0138] S1-4, the implement personnel can simultaneously add markers or select characteristic markers to the solar wing structure placed on the bearing tool for positioning, calibration, and other related operations during the solar array component assembly operation.

[0139] In this process: the implementer cooperates with the pretreatment subsystem to complete the pretreatment work; the pretreatment subsystem completes the process and mechanized operation, such as visual identification of appearance, digital measurement of weight, detection of electrical performance, etc., like S1-1; the implementer completes the operation with high intelligent degree and the processing of abnormal conditions required in the process, such as flexible cable electrical installation, performance sampling inspection result review, positioning mark design and selection, etc., like S1-2, S1-3, S1-4;

[0140] S2, solar cell array assembly transportation, fixing and transfer preparation:

[0141] S2-1, the solar cell array assembly after S1 is placed on the optical platform of the transfer subsystem through the centralized transportation channel and appliance;

[0142] S2-2, the implementer flattens, aligns and fixes the solar cell array assembly on the optical platform through the special tooling fixture, and waits for the next execution;

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

[0144] (2) S3-S5 coating track scanning, planning and execution:

[0145] S3, solar wing bonding area curved surface scanning and adhesive coating track planning:

[0146] S3-1, the coating subsystem cooperates with the truss subsystem to first scan the three-dimensional data of the upper surface profile of the current solar wing assembly area corresponding to the solar cell array assembly; in the scanning process, due to the wing rib curved surface and the travel distance constraint, the whole track is involved in multiple scanning and sequential splicing;

[0147] S3-2, the segmented track data is processed by the point cloud in the coating subsystem, and the track planning algorithm completes the planning of the central path based on the wing rib structure characteristics;

[0148] According to the subdivision of the current solar wing assembly area, the coating scanning track is divided into three track segments corresponding to three sub-areas; the first coating track FirstSpline corresponds to the first bonding area, i.e. the first wing rib structure of the solar wing under the current work station; the second coating track SecondSpline corresponds to the second bonding area, i.e. the second wing rib structure of the solar wing under the current work station; the third coating track LastSpline corresponds to the third bonding area, i.e. the trailing edge structure of the solar wing under the current work station;

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

[0150] For each segment of the coating track FirstSpline, SecondSpline and LastSpline, each segment of the track may involve multiple splicing. Assuming that the scanning times are i, j, k in turn, taking FirstSpline as an example, the following relationships exist:

[0151] FirstSpline is formed by splicing FirstSpline1, FirstSpline2, …, FirstSplinei, etc. through the common point overlap area; each segment of the track contains a large amount of spatial point cloud data, and the point cloud coordinate form is (x, y, z);

[0152] In this process: the series of operations are completed by the corresponding subsystems of the assembly system according to the preset program, and the implementers do not actively intervene in the current process, and only deal with emergency matters such as system abnormal alarm;

[0153] S4, coating track pre-execution and correction update:

[0154] The coating subsystem cooperates with the truss subsystem to perform the adhesive coating operation after scanning, according to the solar wing rib curved surface scanning data and the planned track, first performs adhesive coating on the first rib, that is, executes the first coating track FirstSpline; in the implementation of the rib coating specific process, it is divided into track pre-execution and formal execution, and contact force FContact control is realized in the execution process, so as to reduce the collision risk and protect the assembly system and the operation object;

[0155] The track pre-execution mainly considers the influence of the accumulation of subsystem comprehensive errors on the actual precision, and completes a pre-execution before formal execution; the real work is carried out according to the planned theoretical path, the larger deviation coordinate points are judged through system threshold detection, and the deviation is corrected in advance and the program is updated; taking a feature P example (x p ,y p ,z p ) point in the FirstSpline track as an example, the theoretical coordinate value is, the corresponding actual scanning (x t ,y t ,z t ) point in the pre-execution process of (x r ,y r ,z r ), ΔE is the deviation threshold setting range, and the calculation formula criterion is as follows:

[0156]

[0157] In the trajectory pre-execution process, the real trajectory is measured, recorded and calculated again by the scanning function of the subsystem, and the difference value between the theoretical trajectory and the pre-executed real trajectory is compared; and for the over-difference part, revision and compensation are carried out, and the revised trajectory is still recorded as FirstSpline, but its internal data has been revised and updated;

[0158] In addition to the pose information, the subsystem records the coating contact force; for abnormal contact force phenomenon, there are usually two cases; one is that the contact force FContact far exceeds the set threshold, and the other is that the contact force FContact is zero or very small; the former is mainly to monitor the collision between the weak rigid rib and the coating subsystem executor due to the too large positive error; the latter is mainly the influence of the reverse error, which causes the coating subsystem executor not to fully contact the upper surface of the solar wing rib, resulting in accumulation or adhesion;

[0159] Contact force monitoring timely reminds the implementer to carry out risk early warning and identification and judgment, and forcibly intervenes when necessary, the strategy is as follows:

[0160]

[0161] S5, first coating trajectory formal execution:

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

[0163] Due to the modification and correction work of pre-execution, the modification and correction work in the formal execution process is reduced, and the efficiency is considerable; when obvious over-difference occurs, the subsystem corrects in real time, and the contact force threshold control ensures the coating effect and avoids damage to the workpiece such as collision with the solar wing section;

[0164] In this process: all operations are completed by the subsystem, and the implementer mainly forcibly intervenes to handle system sudden stop and other unexpected situations;

[0165] (3) S6-S8 solar wing arc surface profiling and component transfer and laying:

[0166] S6, curve fitting profiling and solar cell array component gravity balance:

[0167] S6-1, while the coating subsystem performs trajectory implementation and coating operation, the profiling subsystem starts to execute synchronously; the profiling subsystem reuses the scanning data of the coating subsystem in three areas, and performs profiling action through curve fitting and interpolation algorithm;

[0168] S6-2, the entire curved surface is approximated by arrayed discrete points, which are used to balance the gravity G of the solar cell array assembly in the process of picking up the solar cell array assembly by the transfer system and laying, so as to avoid falling, slipping and other unexpected risks and damage to the solar cell array assembly;

[0169] The serial numbers of the arrayed discrete points are 1, 2, …, m. When the profiling subsystem mechanism and assembly are in contact, the moment influence is ignored, and the gravity space vector form of the solar cell array assembly is G solar Discrete point contact friction Force, discrete point contact support force The following spatial force balance relationship exists when balancing:

[0170]

[0171] The profiling action time is T, and the upper limit of time TLmit is completed within a specified time, which is a normal state; after the response time exceeds the upper limit of time, it is an abnormal state, and the implementer intervenes to handle it;

[0172]

[0173] S7, picking up the solar cell array assembly and transferring it to the assembly station:

[0174] S7-1, the truss subsystem cooperates with the transfer subsystem to quickly move and position near the optical platform to complete the rough positioning before picking up; after local accurate positioning through multi-heterogeneous sensor information fusion and feedback information, the transfer subsystem slowly picks up the solar cell array assembly;

[0175] S7-2, the transfer subsystem quickly transfers the solar cell array assembly to the vicinity of the assembly station, i.e. above the current solar wing structure, and waits for the next process to be executed;

[0176] S8, solar cell array assembly laying and assembly relative pose adjustment:

[0177] S8-1, after the transfer subsystem completes picking up the solar cell array assembly, it starts to lay on the solar wing structure; the laying link is a human-machine cooperation link, and the implementer and the assembly system cooperate to complete the laying operation; in terms of division of labor, the implementer is mainly used for solar cell array assembly laying state (pose, etc.) information confirmation and on-site adjustment control, to make up for the dexterity, intelligence and adaptability of the assembly system; the assembly system completes the specific instruction operation according to the implementer's instruction;

[0178] If necessary, the implementer can perform manual direct operation on the solar cell array assembly;

[0179] S8-2, after the assembly laying is completed, the implementer performs positioning mark point identification and matching again, judges whether the solar cell array assembly pose is misaligned or out of tolerance, and performs local adjustment on the assembly abnormal state;

[0180] (4) S9-S12 first adhesive area pressure solidification:

[0181] S9, first adhesive area rolling pressure:

[0182] The pressure solidification link is also a man-machine cooperative link; after the solar cell array assembly after S8 operation should be placed on the upper wing surface of the current wing segment assembly area, the first side wing rib adhesive coating is completed, and it is in direct contact with the solar cell array assembly. The pressure solidification subsystem cooperates with the truss subsystem to complete the rolling and solidification operations in turn;

[0183] The solar cell array assembly and the first side wing rib adhesive position are rolled, the rolling track is reused after the scanning data of the coating subsystem is planned, and the force-position hybrid control algorithm of the pressure solidification subsystem is rolled. Under the protection of the contact force threshold FContact, roll the adhesive area on the wing rib, and actively overflow the excess adhesive. The contact force control principle is the same as S6;

[0184] S10, first adhesive area overflow cleaning and continuous pressure solidification:

[0185] S10-1, after rolling, the pressure solidification subsystem moves to the physical safety range in space, leaving an implementation personnel operation space; the implementer quickly wipes and cleans the adhesive overflowed during the rolling operation; after completion, further solidification operation is started;

[0186] S10-2, the pressure solidification subsystem returns to the operation area again, and the implementer places the pressure solidification system in the shape of the pressure device and the solidification pressure block in the adhesive area in turn, and maintains a certain duration of continuous solidification;

[0187] S11, first adhesive area solidification timing and overflow cleaning:

[0188] During the initial solidification, the implementer performs secondary cleaning of the overflowed pressure solidification, and records the solidification cumulative time Tg1;

[0189] S12, first adhesive area solidification end:

[0190] After the solidification time Tg1 meets the shortest operable duration Tglimt1; the implementer removes the pressure device and the solidification pressure block, and prepares to operate the second side wing rib and the trailing edge wing rib area;

[0191] (5) S13-S15 second coating track execution:

[0192] S13, second and third adhesive area interference space avoidance:

[0193] The second side rib and the trailing edge rib of the solar cell array assembly are assembled, and the contact area of the second side rib and the trailing edge structure of the solar cell array assembly is avoided before the coating operation to provide operation space for the coating subsystem, and the contact area is restored after the coating is completed;

[0194] S14, the second and third coating trajectories are formally executed:

[0195] According to the pre-planned trajectory, the coating subsystem performs the coating of the second side rib and the trailing edge, that is, the SecondSpline and LastSpline are executed.

[0196] S15, the solar cell array assembly is restored to the adhered state:

[0197] After the second and third coating trajectories complete the adhesive coating, the solar cell array assembly is restored to the adhered state with the second side rib and the trailing edge structure.

[0198] (6) S16-S18 assembly pre-tightening and wrinkle reduction:

[0199] S16, the solar cell array assembly is pre-tightened:

[0200] The pre-tightening subsystem adjusts the height of the pre-tightening discrete points according to the coating subsystem and the profiled subsystem curve data, and the operator clamps the mechanical interface of the second side rib and the trailing edge of the solar cell array assembly, and fine-tunes the relative position of the pre-tightening plane and the solar cell array assembly; after clamping is completed, the pre-tightening operation is realized through independent tension closed loop control of the discrete points.

[0201] The pre-tightening discrete point sequence numbers are 1, 2, …, n, and the corresponding pre-tightening forces are FStretch1, FStretch2, …, FStretchn, the force control threshold is ΔF, and the pre-tightening force expected value is Fexp, and the following relationship exists:

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

[0203] S17, the solar cell array assembly upper surface profile scanning:

[0204] The measurement subsystem quickly completes the upper surface profile data scanning of the solar cell array assembly in the pre-tightening state of the current station, and the operator quantifies the profile difference value through three-dimensional data and visual method to evaluate the waviness.

[0205] S18, solar cell array assembly wrinkle reduction and pre-tightening force adjustment:

[0206] For the areas of the solar array assembly surface wrinkle concentration, obvious corrugation and profile out-of-tolerance, the implementer controls the corresponding subsystem to adjust the size and direction of tension, completes the wrinkle reduction and control;

[0207] (7) S19-S22 second and third adhesive area pressure solidification:

[0208] S19, second and third adhesive area rolling pressure:

[0209] After the pre-tightening subsystem and the measuring subsystem complete the above operations, the pressure solidification subsystem, together with S9, performs second and third adhesive area rolling pressure and solidification;

[0210] S20, second and third adhesive area overflow cleaning and continuous pressure solidification:

[0211] The same as S10, the second and third adhesive areas are cleaned and continuously pressure solidified;

[0212] S21, second and third adhesive area overflow secondary cleaning and solidification timing:

[0213] The same as S11, during pressure solidification, the implementer cleans the secondary overflow and calculates the solidification cumulative time Tg2;

[0214] S22, second and third adhesive area solidification completion:

[0215] After the solidification time Tg2 meets the minimum operational time Tglimt2, the pre-tightening subsystem is adjusted to zero relaxation state, the implementer releases the pre-tightening clamping point, ends the clamping, and disassembles the pressure tool and the solidification weight;

[0216] (8) S23-S25 solar wing and solar array assembly post-processing:

[0217] S23, second scanning and saving of the solar array assembly upper surface profile:

[0218] After S22 is completed, the measuring subsystem measures the profile data again and saves the profile data for backtracking;

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

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

[0221] In addition to human-machine cooperation with the implementer, the assembly system relies on control subsystem hardware and software program cooperation to realize various operations during operation;

[0222] S25, manual post-processing of solar wing and solar array assembly:

[0223] Post-processing is performed by the implementer to clean up excess materials, including additional assembly interfaces added during the solar cell array component pretreatment, and to remove excess materials that are not finally mounted on the solar wing;

[0224] The current man-machine collaborative assembly process of the aircraft solar wing assembly station ends;

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

[0226] The man-machine collaborative assembly method of the aircraft solar wing solar cell array proposed in the embodiments of the present application can realize the safe, efficient, rapid and accurate large-scale assembly of the solar cell array to the solar wing by the clear division of labor and cooperative work of the task interface of man and machine, the use of the repeatability and stability of the machine, the intelligence and flexibility of human power, the complementary advantages, the improvement of the digital degree of the assembly task process, the increase of the operation smoothness, and the release of the labor demand pressure.

[0227] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for human-robot collaborative assembly of a solar array of a solar wing of an aircraft, characterized in that, The method comprises the following steps: Pre-treatment and preparation of the solar cell array assembly and the solar wing assembly area; Scanning and planning of the solar wing bonding area to obtain 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, and executing the first coating track; Profiling of the curved surface of the solar wing, and transfer and laying of the assembly; After the first bonding area is pressed and fixed, the second and third coating tracks are executed in sequence; Pre-tightening and wrinkle reduction of the assembly; After the second and third bonding areas are pressed and fixed in sequence, post-processing of the solar wing and the assembly is performed.

2. The method of claim 1, wherein, The pre-treatment and preparation of the solar cell array assembly and the solar wing assembly area comprises the following steps: S1: Pre-treatment of the solar cell array assembly and the solar wing assembly area; S2: Assembly transportation, fixation, and transfer preparation; The scanning and planning of the solar wing bonding area to obtain 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, and executing the first coating track comprises the following steps: S3: Curved surface scanning and adhesive coating track planning of the solar wing bonding area to obtain 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; S4: Pre-execution and correction update of each coating track; S5: Formal execution of the first coating track; The profiling of the curved surface of the solar wing, and the transfer and laying of the assembly comprises the following steps: S6: Curve fitting profiling of the curved surface of the solar wing, and gravity balance of the assembly; S7: Transfer of the assembly to the assembly station by grabbing; S8: Laying and assembly relative pose adjustment of the assembly; The pressing and fixing of the first bonding area comprises the following steps: S9: Rolling of the first bonding area; S10: Overflow cleaning and continuous pressure curing of the first bonding area; S11: Curing timing and overflow cleaning of the first bonding area for the second time; S12: Curing completion of the first bonding area; The execution of the second and third coating tracks in sequence comprises the following steps: S13: Avoidance of the interference space of the second and third bonding areas; S14: Formal execution of the second and third coating tracks; S15: Restoration of the fitting state of the assembly; The pre-tightening and wrinkle reduction of the assembly comprises the following steps: S16: Pre-tightening of the assembly; S17: Scanning of the outer shape of the upper surface of the assembly; S18: Wrinkle reduction and pre-tightening force adjustment of the assembly; The pressing and fixing of the second and third bonding areas in sequence comprises the following steps: S19: Rolling of the second and third bonding areas; S20: Overflow cleaning and continuous pressure curing of the second and third bonding areas; S21: Overflow cleaning and curing timing of the second and third bonding areas for the second time; S22: Curing completion of the second and third bonding areas; The post-processing of the solar wing and the assembly comprises the following steps: S23: Secondary scanning and saving of the outer shape of the upper surface of the assembly; S24; the assembly system moves to a new station; S25; manual post-processing of the solar wing and assembly.

3. The method of claim 2, wherein, S1, S2, S8, S10, S16, S18 and S20 are man-machine collaborative operation steps, in which the implementer and the assembly system interact in time and space during execution; S3, S4, S5, S6, S7, S9, S14, S17, S19, S23 and S24 are machine operation steps, i.e. the assembly system executes, and manual work only handles exceptions and emergencies, in which the implementer and the assembly system do not work simultaneously in time; S11, S12, S13, S15, S21, S22 and S25 are manual execution steps.

4. The method of claim 2, wherein, The preprocessing in step S1 includes: The preprocessing subsystem in the assembly system completes the flow and mechanization operation, which includes visual identification, digital weight measurement and electrical performance detection; The implementer completes the operation with high intelligence requirement and handles the abnormal situation in the process, including flexible cable electrical installation, performance sampling result review and positioning mark design and selection; Step S2 includes: The assembly system completes the transportation, handling and placement of the assembly; The implementer is responsible for reliably fixing the assembly on the optical platform for subsequent transportation preparation.

5. The method of claim 2, wherein, Step S3 includes: The implementer does not actively intervene in the current process, and only handles emergency matters of system abnormal alarm; The three-dimensional data scanning is performed on the solar wing bonding area to obtain each segment coating track, each segment coating track is formed by multiple scanning and sequential splicing, and contains spatial point cloud data, the coordinate form (x, y, z) of the point cloud data is; According to the structure 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 of claim 5, wherein, Step S4 includes: During the pre-execution of each coating track, the real track is measured, recorded and calculated again by the scanning function of the subsystem, the difference value between the theoretical track and the pre-executed real track is compared, and the compensation is revised for the out-of-tolerance part; The revision compensation is performed by using an online track tracking and deviation correction algorithm, and the criterion of the algorithm is: wherein P example (x p ,y p ,z p ) is a feature point in the first coating track, (x t ,y t ,z t ) is a theoretical coordinate value, (x r ,y r ,z r ) is a corresponding actual scanning point in the pre-execution process, and ΔE is a deviation threshold setting range; The threshold control algorithm strategy of the revision compensation is: Wherein, F min , F max , F cantact are minimum threshold, maximum threshold and measured value of coating contact force respectively, the coating contact force is recorded by the subsystem, for abnormal situation, the contact force monitoring timely reminds the implementer to carry out risk early warning and identification judgment, and forcibly intervenes if necessary; In the formal execution process of the coating track in steps S5 and S14, the online track tracking and deviation correction algorithm and the contact force threshold control algorithm are executed, and the basic principles are the same as the pre-execution.

7. The method of claim 2, wherein, Step S6 includes: S6-1: while the coating subsystem performs track implementation and coating operation, the profiling subsystem starts to execute synchronously, the profiling subsystem reuses the scanning data of the coating subsystem in the three regions, and performs profiling action through surface fitting and interpolation algorithm; S6-2: Approximate the entire surface by array distribution of discrete points, used to balance the gravity of the assembly in the transport subsystem and the laying process, to avoid the risk of falling, slipping and damaging the assembly; The spatial force balance relationship when the gravity is balanced is: Wherein, 1, 2, …, m are array distribution of discrete point serial number, when the profiling subsystem mechanism and components contact, ignore the moment influence, G solar =(0, 0, G) is the gravity space vector form of the component, is the discrete point contact friction force, is the discrete point contact support force; The strategy of the profiling action is: Wherein, T is the time of tracing action, T Lmit is the time limit, the tracing action is completed within the specified time, which is the normal state, and the response time exceeds the time limit, which is the abnormal state. When the abnormal state occurs, the personnel intervene to handle it.

8. The method of claim 6, wherein, Step S8 includes: The laying and assembly relative pose adjustment operation of the assembly is completed by the cooperation of the implementer and the assembly system; At the level of division of labor, the implementer is used to confirm and adjust the on-site control of the assembly laying state information, to make up for the dexterity, intelligence and adaptability of the assembly system, and the assembly system completes the specific instruction operation according to the instruction of the implementer; When the assembly system cannot complete, the implementer directly operates the assembly; Steps S9 and S19 include: The planning track of the roll coating track multiplexing coating subsystem after scanning data is controlled by the force-position hybrid control algorithm of the roll pressing subsystem, and the excess adhesive is actively overflowed on the adhesive area of the roll pressing rib under the protection of the contact force threshold. The contact force control principle is the same as step S6.

9. The method of claim 7, wherein, Steps S10 and S20 include: The implementer quickly wipes and cleans the adhesive overflowed by the roll pressing operation; After the wiping and cleaning are completed, the conformal press and the curing press block are placed in the adhesive area in turn to maintain the continuous curing for a set time by the cooperation of the press subsystem; Step S16 includes: 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 implementer clamps the mechanical interface of the second side rib and the trailing edge of the assembly, and after clamping, the pre-tightening operation is realized by the independent tension closed-loop control of the discrete points; The relationship for pre-tightening is: Wherein, 1, 2, …, n is the pre-tightening discrete point serial number, and the corresponding pre-tightening force is F Stretch1 , F Stretch2 , …, F Stretchn , ΔF is the force control threshold, F exp is the pre-tightening force expected value.

10. The method of claim 2, wherein, Steps S17, S18 and S23 include: The airfoil shape data of the assembly is obtained by three-dimensional data shape scanning; The implementer quantifies the profile difference by three-dimensional data and visual method to evaluate the waviness; After the assembly is assembled on the solar wing and the wrinkles are adjusted, the secondary data scanning is performed and stored.

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