Rapid auxiliary assembly collaborative robot suitable for aircraft cabin door

Abstract

The invention discloses a rapid auxiliary assembly collaborative robot suitable for an aircraft cabin door, and belongs to the technical field of aircraft assembly, the rapid auxiliary assembly collaborative robot comprises a main body structure, an adsorption unit, a power system and a control system, the main body structure 1 carries the adsorption unit, the power system and the control system, and the main body structure 1 is matched with the power system and the control system to realize multi-pose follow-up control; the power system provides pneumatic power for the adsorption unit to adsorb cabin door products. The power system provides negative pressure for work of the adsorption unit and provides power for follow-up control of the main body structure. The control system controls adsorption, release and multi-degree-of-freedom free posture adjustment. The device has high degree of freedom, adapts to aircraft cabin doors with different shape and position requirements, can be accurately operated in a narrow assembly space, is flexible in structure, simple and convenient to operate, and rapid and accurate to move and position, greatly shortens the time of loading, unloading and hoisting of the cabin door, and shortens the cabin door assembly time by about 70%.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft assembly, and relates to a collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors. Background Art

[0002] On the aircraft cabin door assembly production line, the loading and unloading of products mainly rely on hoisting operations. Hoisting operations generally use overhead cranes in the current aircraft assembly industry. The overhead crane mainly consists of a bridge, a trolley running mechanism, a trolley, a hoisting mechanism, an electrical control system and other parts. When hoisting the cabin door, the operator needs to operate the trolley and trolley of the overhead crane to move to a suitable position, then use the hoisting mechanism to connect the hook to the pre-set lifting point of the cabin door through the hook, and then perform hoisting and moving operations to lift the cabin door to the designated position for product loading or unloading.

[0003] During the overall process of loading and unloading the aircraft cabin door, clamping and disassembling of multiple positioners are required. However, the overhead crane cannot perceive the working posture, and the force during the operation cannot be feedback to the operator's hand. Therefore, during the use process, over-force or no-force phenomena may occur during the operation process, which brings great difficulties to the overall operation of the operator, and may also cause damage to products, tooling and injuries to operators. The existing technology has the following problems.

[0004] 1. Complex and inefficient operation:

[0005] The operation of the overhead crane involves the coordinated actions of multiple mechanisms, and the operator must undergo professional training to operate proficiently. Before each hoisting, it takes time to determine the lifting point position of the cabin door and accurately hook the hook. During the hoisting process, the speed and direction need to be carefully controlled to avoid the cabin door from shaking. The entire operation process is cumbersome, consuming a lot of time and manpower, resulting in low overall efficiency of the loading, unloading and hoisting of the cabin door.

[0006] 2. Potential safety hazards:

[0007] Since the overhead crane needs to use hooks and slings to lift the cabin door during the hoisting process, once the connection point between the hook and the cabin door becomes loose or slips, or there are operating errors during the hoisting process (such as too fast hoisting speed, sudden braking of the trolley or trolley, etc.), the cabin door is at risk of falling, which is extremely likely to cause serious equipment damage and personal injury accidents. In addition, when the overhead crane runs in the workshop, its huge structure and large operating range also increase the risk of collision with other equipment or personnel.

[0008] 3. Low degree of freedom and lack of perception:

[0009] Due to the limitations of its design structure, the overhead crane has multiple degrees of freedom in its operation, namely the X, Y, and Z degrees of freedom, and cannot rotate along the X, Y, and Z axes. When loading and unloading aircraft cabin door products, due to the structural design of the cabin door and the aircraft barrel section, most of them are single-curved or double-curved structures. Therefore, the overall process of installation, disassembly, and debugging is a multi-degree-of-freedom movement. The degrees of freedom of the overhead crane's operation cannot meet the actual operation process. Therefore, multiple operators need to exert force manually to complete the entire operation process. At the same time, the overhead crane has no force perception ability during the traveling process and cannot effectively perceive the force situation between the current product and the tooling and the force situation of the personnel during the operation process. Therefore, it will bring great difficulties to the operation. Summary of the Invention

[0010] To solve the above problems, the present invention provides a collaborative robot for rapid auxiliary assembly of aircraft cabin doors.

[0011] The present invention adopts the following technical solutions:

[0012] A collaborative robot for rapid auxiliary assembly of aircraft cabin doors, the assembly collaborative robot includes a main body structure 1, an adsorption unit 2, a power system 3, and a control system 4. The main body structure 1 is used to carry the adsorption unit 2, the power system 3, and the control system 4, ensure smooth movement and prevent tipping. At the same time, the main body structure 1 cooperates with the power system 3 and the control system 4 to realize multi-posture follow-up control of the assembly collaborative robot; the adsorption unit 2 is installed at the end of the main body structure 1, and pneumatic power is provided by the power system, and the cabin door product is adsorbed through the suction cup; the power system 3 is connected to the main body structure 1, the adsorption unit 2, and the control system 4 through pipelines, provides negative pressure for the work of the adsorption unit 2, and provides power for the follow-up control of the main body structure 1; the control system 4 is used to control adsorption, release, and multi-degree-of-freedom free posture adjustment. Specifically:

[0013] The main body structure 1 includes a base 5, a first rotating arm 6, a vertical moving pair 7, a second rotating arm 8, a third rotating arm 9, a fourth rotating arm 10, and a turning shaft 11.

[0014] The bottom of the base 5 is a platform structure, and the upper part is a support main shaft. The platform structure is used to support on the ground and provide counterweight to ensure that the assembly collaborative robot can operate smoothly when sucking workpieces. It can cooperate with a latent AGV to make the assembly collaborative robot have the function of self-walking and realize multi-station adsorption operation. The support main shaft is fixed at the center of the platform structure.

[0015] The first rotating arm 6 is a straight rod arm and is rotatably connected to the top of the support main shaft of the base 5 through a rotating connector, and the two are coaxial. The first rotating arm 6 can rotate 360° around the axis, making the service area of the assembly collaborative robot circular, improving the equipment utilization rate. The rotation axis 6 of the support rod has no driving force and can be easily rotated manually.

[0016] The vertical moving pair 7 is a horizontally arranged four-bar mechanism, one end of which is rotatably connected to the top end of the first rotating arm 6. The axis of the vertical moving pair 7 is perpendicular to the axis of the first rotating arm 6, and it can rotate around the axis to achieve upward and downward movement in the vertical direction, ensuring the vertical stroke of the assembly collaborative robot. A high-precision linear connecting piece is adopted at the telescopic part of the vertical moving pair 7 to ensure the telescopic accuracy of the arm. The vertical moving pair 7 is provided with pneumatic power by the power system 3, and the pneumatic balance method is adopted to reduce the weight when handling the hatch product.

[0017] The second rotating arm 8 is horizontally arranged, one end of which is rotatably connected to the other end of the vertical moving pair 7 through a rotating connecting piece. Its rotation axis is perpendicular to the force arm of the vertical moving pair 7. When the vertical moving pair 7 is parallel to the ground, the rotation axis of the second rotating arm 8 is perpendicular to the ground, and the second rotating arm 8 can rotate 360° around the axis.

[0018] The upper end of the third rotating arm 9 is rotatably connected to the other end of the second rotating arm 8 through a rotating connecting piece. Its rotation axis is parallel to the second rotating arm 8 and can rotate 360° around the axis.

[0019] The upper end of the fourth rotating arm 10 is rotatably connected to the lower end of the third rotating arm 9 through a rotating connecting piece. Its rotation axis is perpendicular to the rotation axis of the third rotating arm 9, enabling it to rotate 90° around the axis.

[0020] The second rotating arm 8, the third rotating arm 9 and the fourth rotating arm 10 have no driving force and can be easily rotated manually, which is used to adjust the pose of the hatch product during work to achieve manual micro-adjustment of the pose of the hatch product within a short distance.

[0021] The turning axis 11 is rotatably connected to the lower end of the fourth rotating arm 10 through a rotating connecting piece, enabling the turning axis 11 to rotate 360° around the axis of the fourth rotating arm 10. The turning axis 11 is provided with pneumatic power by the power system 3 and is fixed at any angle through a bolt, ensuring that the pose of the hatch product can be micro-adjusted during the work process.

[0022] Braking devices are provided on all rotating axes in the main structure 1, and the rotating axes are controlled by the control system 4 to brake and lock, making them immovable; precise mechanical processing and assembly processes are adopted at the joint parts where the rotating axes are located to ensure the flexibility and stability of the joints.

[0023] The adsorption unit 2 includes a frame, a connecting shaft, a vacuum suction cup group 12, a swing joint 13, and a turning lever 14.

[0024] The frame is rectangular, and the middle part of its upper surface is fixedly connected to the turning axis 11 and can rotate synchronously with the turning axis 11.

[0025] A plurality of the described vacuum suction cup groups 12 are provided. The air belt is connected to the air source after passing through the control system. The lower surface of each vacuum suction cup group 12 is provided with suction cups in a matrix. The working state of the suction cups is controlled by the control system, and the stable adsorption of 200KG products can be completed. The middle part of the upper surface of each vacuum suction cup group 12 is connected to the connecting shaft through a swing joint 13. The upper end of the connecting shaft is connected to the frame. The swing joint 13 is also provided with a spring structure, enabling the vacuum suction cup group 12 to float up and down and swing left and right, and can achieve adaptive fine-tuning with the outer arc of the cabin door skin, so as to be applicable to single-curvature, double-curvature, and complex-curvature cabin door products. The connecting shaft on the vacuum suction cup group 12 located in the middle of the frame is fixedly connected to the frame, and the connecting shaft on the vacuum suction cup group 12 located on both sides is rotatably connected to the frame. A flipping lever 14 is provided at the connection, and the adsorption angle of the vacuum suction cup group 12 is adjusted by operating the flipping lever 14 to keep the same working posture as the cabin door product, providing a more spacious area for sucking, thereby ensuring sufficient adsorption force.

[0026] The described power system 3 includes a cylinder, which is connected to the air source through a pipeline. High-speed compressed air is used as the power source for the assembly collaborative robot. The assembly collaborative robot is a non-electric device. A gas storage tank is provided in the cylinder. When the air source is accidentally cut off, it can provide short-term air supply to prevent the cabin door product from suddenly falling. The cylinder supplies air to the main body structure 1 and the adsorption unit 2 through the air circuit penetrating the inside of the assembly collaborative robot. A pressure regulating valve and a direction control valve are provided in the cylinder. The direction control valve is used to control the flow direction of the gas to realize the telescopic movement of the cylinder, and then realize the change of the pose of the main body structure 1. The pressure regulating valve cooperates with the control system 4 to realize the grasping and releasing operation of the adsorption unit 2 and change the adsorption force. When the air supply pressure reaches 7Kgf, a load capacity of at least 200Kg can be provided.

[0027] The described control system 4 includes a pneumatic control box 15, an operation handle 16, a suction handle 17, a brake button 18, and a release button 19.

[0028] The pneumatic control box 15 is installed on the third rotating arm 9. It is provided with an adjustment knob, a pressure gauge, a load gauge, and an indicator light. The adjustment knob is used to control the pressure regulating valve provided in the power system 3 to realize the adjustment of the air supply pressure of the vacuum suction cup group 12, thereby adjusting the adsorption force. The pressure gauge, load gauge, and indicator light are used to monitor the working load of the suction cup and the state of the compressed air in real time to ensure safety during the process of adsorbing products.

[0029] The operation handle 16 is arranged below the pneumatic control box 15 and is also fixedly installed on the third rotating arm 9. It serves as the hand-held position when operating the assembly collaborative robot. With the cooperation of the power system 3, applying force to the operation handle 16 realizes the follow-up pose adjustment of the main body structure 1.

[0030] The suction handle 17, brake button 18, and release button 19 are provided on the operation handle 16. Among them, both the suction handle 17 and the release button 19 are designed with dual buttons, i.e., a two-handed control mode, to prevent accidental operation. When pressing both suction handles 17 simultaneously, it controls the vacuum suction cup group 12 to suck the hatch product. When pressing both release buttons 19 simultaneously, it controls the vacuum suction cup group 12 to release the hatch product. When not working, pressing the brake button 18 realizes brake locking to ensure that all movable joints in the main structure 1 cannot move. When working, pressing up the brake button 18 releases the movement of the movable joints.

[0031] Furthermore, the material of the suction cups of the vacuum suction cup group 12 is selected as a rubber material with high strength, wear resistance, and good sealing performance. Its contact area and shape with the outer skin of the hatch are optimized to ensure uniform and sufficient adsorption force on the outer skins of hatches with different curvatures.

[0032] Furthermore, a joint is also provided on the vacuum suction cup group 12 for connecting with the stop joint on the hatch product, to prevent the hatch product from accidentally falling when the air source is accidentally cut off.

[0033] The beneficial effects of the present invention:

[0034] 1. The present invention is a high-degree-of-freedom structure composed of a variety of connecting parts. This structure enables the robot to flexibly adapt to aircraft hatches with different shapes and position requirements, and can also accurately operate in a narrow assembly space. Through the precise design and processing of the connecting parts, the flexibility, stability, and load-bearing capacity of the robot joints are guaranteed. The structure of the present invention is flexible and the operation is simple. The operator does not need to perform complex preparatory work like operating a gantry crane. The high degree of freedom and followability of the present invention make the movement and positioning of the hatch faster and more accurate, greatly shortening the time for the hatch to be lifted and lowered and hoisted. In actual tests, compared with using a gantry crane, using this collaborative robot can shorten the hatch assembly time by about 70%.

[0035] 2. The present invention adsorbs the hatch through vacuum suction cups, which is more stable and reliable than the hook connection of a gantry crane, and there is no risk of the hook falling off. At the same time, the device has an air storage tank and a physical anti-drop device, which can ensure absolute safety during operation.

[0036] 3. The present invention uses the air source as the power source. As a non-electric device, it avoids safety hazards caused by electrical faults (such as electric leakage, short circuit, etc.). Through the precise control of the air source power by valves such as pressure regulating valves and direction control valves, it can meet the requirements of the robot for adsorption force and actions in different working states, ensuring the stable operation of the robot and the effective operation of the hatch.

[0037] 4. The follow-up control cooperation between the vacuum suction cup of the present invention and the control system realizes the stability of the robot during the process of handling the hatch door and the high coordination with the operator, reduces the collision risk caused by uncoordinated operation, and greatly reduces the incidence of safety accidents during the aircraft hatch door assembly process. Description of the Drawings

[0038] Figure 1 It is a schematic diagram of the overall structure of the rapid auxiliary assembly collaborative robot for aircraft hatch doors;

[0039] Figure 2 It is a schematic diagram of the main structure;

[0040] Figure 3 It is a schematic diagram of the adsorption unit;

[0041] Figure 4 It is a schematic diagram of the swing pose of the fourth rotating arm;

[0042] Figure 5 It is a schematic diagram of the control system;

[0043] Among them: 1 main structure; 2 adsorption unit; 3 power system; 4 control system; 5 base; 6 first rotating arm; 7 vertical moving pair; 8 second rotating arm; 9 third rotating arm; 10 fourth rotating arm; 11 turning shaft; 12 vacuum suction cup group; 13 swing joint; 14 turning lever; 15 pneumatic control box; 16 operation handle; 17 suction handle; 18 brake button; 19 release button. Detailed Implementation Modes

[0044] In order to make the purpose, technical solutions and advantages of the present invention clearer and more understandable, the following will describe the detailed implementation modes of the present invention with technical solutions.

[0045] A rapid auxiliary assembly collaborative robot suitable for aircraft hatch doors, the assembly collaborative robot includes a main structure 1, an adsorption unit 2, a power system 3 and a control system 4, as Figure 1 .

[0046] The main structure 1 includes a base 5, a first rotating arm 6, a vertical moving pair 7, a second rotating arm 8, a third rotating arm 9, a fourth rotating arm 10 and a turning shaft 11, as Figure 2 .

[0047] The bottom of the base 5 is a platform structure, and the upper part is a support main shaft. The platform structure is used to support on the ground and provide counterweight to ensure that the assembly collaborative robot can operate smoothly when sucking workpieces. It can cooperate with a latent AGV to enable the assembly collaborative robot to have the function of self-walking, realize multi-station adsorption operation, and the support main shaft is fixed at the center of the platform structure.

[0048] The first rotating arm 6 is a straight rod arm, which is rotatably connected to the top of the base 5 supporting the main shaft through a rotating connector, and the two are coaxial. The first rotating arm 6 can rotate 360° around the axis, making the service area of the assembled collaborative robot circular, improving the equipment utilization rate. The rotating shaft of the support rod 6 has no driving force, and can be easily rotated manually.

[0049] The vertical moving pair 7 is a four-bar mechanism arranged horizontally. One end of it is rotatably connected to the top end of the first rotating arm 6. The axis of the vertical moving pair 7 is perpendicular to the axis of the first rotating arm 6. It can tilt 37° upward and sink 36° in the vertical direction around the axis, ensuring the vertical stroke of the assembled collaborative robot. A high-precision linear connector is used at the telescopic part of the vertical moving pair 7 to ensure the telescopic accuracy of the arm. The vertical moving pair 7 is provided with pneumatic power by the power system 3 and adopts the pneumatic balance method to reduce the weight when handling the hatch product.

[0050] The second rotating arm 8 is arranged horizontally. One end of it is rotatably connected to the other end of the vertical moving pair 7 through a rotating connector. Its rotation axis is perpendicular to the force arm of the vertical moving pair 7. When the vertical moving pair 7 is parallel to the ground, the rotation axis of the second rotating arm 8 is perpendicular to the ground. The second rotating arm 8 can rotate 360° around the axis.

[0051] The upper end of the third rotating arm 9 is rotatably connected to the other end of the second rotating arm 8 through a rotating connector. Its rotation axis is parallel to the second rotating arm 8 and can rotate 360° around the axis.

[0052] The upper end of the fourth rotating arm 10 is rotatably connected to the lower end of the third rotating arm 9 through a rotating connector. Its rotation axis is perpendicular to the rotation axis of the third rotating arm 9, enabling it to rotate 90° around the axis.

[0053] The second rotating arm 8, the third rotating arm 9 and the fourth rotating arm 10 have no driving force and can be easily rotated manually, which is used to adjust the pose of the hatch product during work and realize the manual micro-adjustment of the hatch product pose within a short distance.

[0054] The flip axis 11 is rotatably connected to the lower end of the fourth rotating arm 10 through a rotating connector, enabling the flip axis 11 to rotate 360° around the axis of the fourth rotating arm 10. The flip axis 11 is provided with pneumatic power by the power system 3 and is fixed at any angle by a plug, ensuring that the attitude of the hatch product can be micro-adjusted during the work process.

[0055] Brake devices are provided on all rotating shafts in the main body structure 1, and the rotating shafts are controlled by the control system 4 to brake and lock and cannot move; precise mechanical processing and assembly processes are adopted at the joint parts where the rotating shafts are located to ensure the flexibility and stability of the joints.

[0056] The adsorption unit 2 described above includes a frame, a connecting shaft, a vacuum suction cup group 12, a swing joint 13, and a turning lever 14, as Figure 3 .

[0057] The frame is rectangular, and the middle of its upper surface is fixedly connected to the turning shaft 11 and can rotate synchronously with the turning shaft 11.

[0058] Multiple groups of the vacuum suction cup group 12 are provided, which are connected to the air source through a wind belt after passing through the control system. A suction cup is matrix - arranged on the lower surface of each group of the vacuum suction cup group 12. The working state of the suction cup is controlled by the control system and can stably adsorb a 200 - KG product. The material of the suction cup is selected as a rubber material with high strength, wear resistance, and good sealing performance. Its contact area and shape with the outer skin of the cabin door are optimized to ensure uniform and sufficient adsorption force on the outer skin of the cabin door with different curvatures; the middle of the upper surface of each group of the vacuum suction cup group 12 is connected to the connecting shaft through the swing joint 13, and the upper end of the connecting shaft is connected to the frame. The swing joint 13 is also provided with a spring structure, enabling the vacuum suction cup group 12 to move up and down and swing left and right, and can be adaptively fine - tuned to the arc of the outer skin of the cabin door to be applicable to single - curvature, double - curvature, and complex - curvature cabin door products; the connecting shaft on the vacuum suction cup group 12 located in the middle of the frame is fixedly connected to the frame, and the connecting shaft on the vacuum suction cup group 12 located on both sides is rotatably connected to the frame. A turning lever 14 is provided at the connection, and the adsorption angle of the vacuum suction cup group 12 is adjusted by operating the turning lever 14 to keep the same working posture as the cabin door product, providing a wider area for sucking, thereby ensuring sufficient adsorption force; a joint is also provided on the vacuum suction cup group 12 for connecting to the stop joint on the cabin door product to prevent the cabin door product from accidentally falling when the air source is accidentally cut off.

[0059] The power system 3 includes a cylinder, which is connected to the air source through a pipeline and uses high - speed compressed air as the power source for the assembly collaborative robot. The assembly collaborative robot is a non - electrical device. A gas storage tank is arranged in the cylinder. When the air source is accidentally cut off, it can provide short - time air supply to prevent the cabin door product from suddenly falling; the cylinder supplies air to the main body structure 1 and the adsorption unit 2 through an air path passing through the interior of the assembly collaborative robot. A pressure regulating valve and a direction control valve are arranged in the cylinder. The direction control valve is used to control the flow direction of the gas to realize the telescopic movement of the cylinder, and further realize the change of the pose of the main body structure 1; the pressure regulating valve cooperates with the control system 4 to realize the grasping and releasing operation of the adsorption unit 2 and change the adsorption force. When the supply air pressure reaches 7Kgf, it can provide a load capacity of at least 200Kg.

[0060] The control system 4 includes a pneumatic control box 15, an operation handle 16, a suction handle 17, a brake button 18, and a release button 19, as Figure 4 and Figure 5 .

[0061] The described pneumatic control box 15 is installed on the third rotating arm 9, and is provided with an adjustment knob, a pressure gauge, a load gauge and an indicator light. The adjustment knob is used to control the pressure regulating valve provided in the power system 3 to realize the adjustment of the air supply pressure of the vacuum suction cup group 12, so as to adjust the adsorption force. The pressure gauge, the load gauge and the indicator light are used to monitor the working load of the suction cup and the state of the compressed air in real time to ensure safety during the process of adsorbing products.

[0062] The described operating handle 16 is arranged below the pneumatic control box 15 and is also fixedly installed on the third rotating arm 9. As the hand-held position when operating the assembly collaborative robot, with the cooperation of the power system 3, applying force to the operating handle 16 realizes the follow-up posture adjustment of the main body structure 1.

[0063] The described suction handle 17, brake button 18 and release button 19 are arranged on the operating handle 16. Among them, both the suction handle 17 and the release button 19 are designed with double buttons, that is, the two-handed control mode, to prevent accidental touch operation. Pressing the two suction handles 17 at the same time controls the vacuum suction cup group 12 to suck the hatch product, and pressing the two release buttons 19 at the same time controls the vacuum suction cup group 12 to release the hatch product; when not working, pressing the brake button 18 realizes brake locking to ensure that all moving joints in the main body structure 1 cannot move. When working, pressing up the brake button 18 releases the movement of the moving joints.

[0064] In this embodiment, the follow-up performance of the assembly collaborative robot is realized based on a variety of rotating pairs and moving pairs, achieving the characteristics of smooth movement and strong structural rigidity. When the hatch product is carried out for loading and unloading operations, the assembly collaborative robot allows the operator to manually control the multi-degree-of-freedom posture adjustment. The gravity of the hatch product is completely borne by the assembly collaborative robot, realizing the collaborative operation of the equipment and the operator. At the same time, the operator can effectively perceive the force state of the product through the hand-held control device, reducing the collision risk caused by uncoordinated operation and improper force. In the actual application scenario, it greatly reduces the incidence of safety accidents during the assembly and hoisting process of the aircraft hatch, greatly reduces the labor intensity of the operator, and improves the assembly efficiency and quality of the aircraft hatch.

[0065] In summary, the above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors, characterized in that: The assembly collaborative robot comprises a main structure (1), an adsorption unit (2), a power system (3) and a control system (4); the main structure (1) is used to carry the adsorption unit (2), the power system (3) and the control system (4), and the main structure (1) cooperates with the power system (3) and the control system (4) to realize multi-posture follow-up control of the assembly collaborative robot; the adsorption unit (2) is installed at the end of the main structure (1), and is pneumatically powered by the power system for adsorbing cabin door products; the power system (3) is connected to the main structure (1), the adsorption unit (2) and the control system (4) through pipelines, providing negative pressure for the adsorption unit (2) to work, and providing power for the follow-up control of the main structure (1); the control system (4) is used to control adsorption, release, and multi-degree-of-freedom free posture adjustment.

2. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 1, characterized in that: The main structure (1) comprises a base (5), a first rotating arm (6), a vertical moving pair (7), a second rotating arm (8), a third rotating arm (9), a fourth rotating arm (10) and a turning axis (11); The base (5) has a platform structure at the bottom and a supporting spindle at the top. The platform structure is used to provide a counterweight, and the supporting spindle is fixed at the center of the platform structure. The first rotating arm (6) is a straight rod arm rotatably connected to the top of the supporting main shaft of the base (5), and the two are coaxial. The first rotating arm (6) can rotate 360 ​​degrees around the axis; The vertical moving pair (7) is a horizontally arranged four-bar mechanism, one end of which is rotatably connected to the top of the first rotating arm (6). The axis of the vertical moving pair (7) is perpendicular to the axis of the first rotating arm (6). It can realize vertical tilting and tilting around the axis. The vertical moving pair (7) is pneumatically powered by the power system (3). The second rotating arm (8) is arranged horizontally, one end of which is rotatably connected to the other end of the vertical moving pair (7), and the rotation axis of the second rotating arm (8) is perpendicular to the force arm of the vertical moving pair (7). When the vertical moving pair (7) is parallel to the ground, the rotation axis of the second rotating arm (8) is perpendicular to the ground, and the second rotating arm (8) can rotate 360° around the axis. The upper end of the third rotating arm (9) is rotatably connected to the other end of the second rotating arm (8), and its rotation axis is parallel to the second rotating arm (8), and can rotate 360° around the axis; The upper end of the fourth rotating arm (10) is rotatably connected to the lower end of the third rotating arm (9), and its rotation axis is perpendicular to the rotation axis of the third rotating arm (9), so that it can rotate 90 degrees around the axis; The flip shaft (11) is rotatably connected to the lower end of the fourth rotating arm (10) through a rotating connection member, so that the flip shaft (11) can rotate 360 ​​degrees around the axis of the fourth rotating arm (10). The flip shaft (11) is pneumatically powered by the power system (3) and can be fixed at any angle. The adsorption unit (2) comprises a frame, a connecting shaft, a vacuum suction cup group (12), a swing joint (13), and a flip lever (14); The frame is rectangular, and the middle part of its upper surface is fixedly connected to the flip shaft (11), and can rotate synchronously with the flip shaft (11); The vacuum suction cup groups (12) are provided in a plurality of groups, and suction cups are provided in a matrix on the lower surface of each vacuum suction cup group (12); the middle part of the upper surface of each vacuum suction cup group (12) is connected to a connecting shaft via a swing joint (13), and the upper end of the connecting shaft is connected to the frame; the swing joint (13) is also provided with a spring structure, so that the vacuum suction cup group (12) can float up and down and swing left and right, and realize adaptive fine adjustment with the hatch product; The power system (3) comprises a cylinder connected to an air source to provide pneumatic power; the cylinder supplies air to the main structure (1) and the adsorption unit (2) through an air path running through the interior of the collaborative assembly robot; a pressure regulating valve and a directional control valve are arranged in the cylinder, and the directional control valve is used to change the posture of the main structure (1); the pressure regulating valve cooperates with the control system (4) to change the adsorption force of the adsorption unit (2); The control system (4) comprises an air control box (15), an operating handle (16), a suction handle (17), a brake button (18) and a release button (19); The air control box (15) is mounted on the third rotating arm (9), and is provided with an adjusting knob, a pressure gauge, a load meter and an indicator light. The adjusting knob is used to control a pressure regulating valve provided in the power system (3) to adjust the air supply pressure of the vacuum suction cup group (12). The pressure gauge, the load meter and the indicator light are used to monitor the working load of the suction cup and the state of the compressed air in real time. The operating handle (16) is also fixedly mounted on the third rotating arm (9). With the cooperation of the power system (3), force is applied to the operating handle (16) to achieve follow-up posture adjustment of the main structure (1); The suction handle (17), brake button (18) and release button (19) are arranged on the operating handle (16); the suction handle (17) is used to control the vacuum suction cup group (12) to suck the hatch product; the release button (19) is used to control the vacuum suction cup group (12) to release the hatch product; when not in operation, the brake button (18) is pressed to implement brake locking to ensure that all movable joints in the main structure (1) cannot move; when in operation, the brake button (18) is pressed to release the movable joints from moving.

3. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The base (5) cooperates with the latent AGV to enable the assembly collaborative robot to have a self-propelled function.

4. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The second rotating arm (8), the third rotating arm (9) and the fourth rotating arm (10) adopt a pneumatic follow-up mode.

5. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: All rotating shafts in the main structure (1) are provided with brake devices, and the rotating shafts are braked and locked to be immobile through the control system (4).

6. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The suction cup of the vacuum suction cup group (12) is made of rubber material.

7. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The vacuum suction cup assembly (12) is also provided with a joint for connecting with a stop joint on the hatch product to prevent the hatch product from accidentally falling.

8. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The connecting shafts on the vacuum suction cup groups (12) located on both sides of the frame are rotatably connected to the frame, and a flip lever (14) is provided at the connection, and the suction angle of the vacuum suction cup group (12) is adjusted by operating the flip lever (14).

9. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The cylinder of the power system (3) is provided with a gas storage tank, which can provide backup gas supply when the gas source is accidentally cut off.

10. The collaborative robot suitable for rapid auxiliary assembly of aircraft cabin doors according to claim 2, characterized in that: The suction handle (17) and the release button (19) are both designed as double buttons, and both buttons need to be pressed simultaneously during operation.

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