Cage assembly system and method

Abstract

The application belongs to the technical field of aircraft assembly, and discloses a kind of bulkhead assembly system and method, the bulkhead assembly system includes driving device, clamping device, monitoring device, identification device and control device.Clamping device is installed in driving device, for clamping bulkhead and compacting bulkhead to the inner profile of skin.Monitoring device is installed between driving device and clamping device, for gathering the stress information of clamping device in assembly process.Identification device is used to measure the positioning feature on bulkhead.Control device is connected with driving device, clamping device, monitoring device and identification device.The application adjusts the posture of bulkhead by identification device, monitoring device and control device, so as to better control the compacting force of bulkhead, and make bulkhead better assembled with skin.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly technology, and more particularly to a bulkhead assembly system and method. Background Technology

[0002] The fuselage panels of the new generation of large passenger aircraft adopt an all-composite material structure. As the load-bearing skeleton component of the fuselage panels, the bulkhead is a complex, multi-faceted, integrated structural component. When it connects with the skin to form the panel, its position relative to the skin needs to be strictly controlled to meet the structural load transfer requirements. Simultaneously, due to the large springback deviation of the bulkhead's shape during curing, after one connecting surface contacts the skin, a large gap may exist between other connecting surfaces and the skin during positioning. Appropriate clamping force needs to be applied to deform the bulkhead to eliminate or partially eliminate these gaps. However, the interlayer strength of the bulkhead is low, making it susceptible to damage under clamping force. Therefore, the level of clamping force applied to the bulkhead must be precisely controlled to both eliminate gaps and avoid component damage or the introduction of excessive residual stress.

[0003] Current methods for assembling partitions mainly follow the assembly approach for metal partitions, including three methods: rigid tooling fixtures combined with manual operation, automated operation of industrial robots based on teaching, and automated operation of robots based on digital assisted measurement technology.

[0004] Rigid tooling fixtures can achieve precise positioning of the bulkhead, but it is difficult to flexibly adjust the clamping force level of the bulkhead, which can easily lead to excessive clamping that damages the components or introduces excessive residual stress in assembly. In addition, rigid tooling fixtures have poor versatility, high cost, low efficiency of manual operation, and unstable quality, which cannot meet the requirements of high-efficiency and high-quality mass production of the new generation of large passenger aircraft.

[0005] Therefore, there is an urgent need for a frame assembly system and method to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a partition frame assembly system and method to overcome the problems of current partition frame assembly methods not considering the actual contact state between the partition frame's connecting surfaces and the skin during the positioning process, which easily leads to insufficient contact between the partition frame and the skin or excessive contact force damaging the components, and to overcome the problem of not considering the need for partition frame clamping force adjustment, thereby realizing a high-quality automated assembly positioning and clamping process for partition frames.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] On one hand, a bulkhead assembly system is provided for positioning a bulkhead to a skin, the bulkhead assembly system comprising:

[0009] Drive unit;

[0010] A clamping device, installed on the drive device, is used to clamp the partition frame and press the partition frame against the inner surface of the skin;

[0011] A monitoring device is installed between the driving device and the clamping device to collect force information of the clamping device during the assembly process;

[0012] A recognition device for recognizing the pose information of the partition frame;

[0013] The control device is communicatively connected to the drive device, the clamping device, the monitoring device, and the identification device.

[0014] Optionally, the clamping device includes a support mechanism, a spacer clamping mechanism, a pressing mechanism, and a tightening mechanism;

[0015] The support mechanism is connected to the drive device, and the frame clamping mechanism, the pressing mechanism, and the top clamping mechanism are all mounted on the support mechanism;

[0016] The partition frame clamping mechanism is used to clamp the partition frame;

[0017] The clamping mechanism is used to apply clamping force to the partition frame to eliminate the gap between the partition frame and the inner surface of the skin;

[0018] The clamping mechanism can clamp the partition frame.

[0019] Optionally, the support mechanism includes a load-bearing member, a first connecting plate, and a second connecting plate;

[0020] The first connecting plate is connected to the driving device; one end of the second connecting plate is disposed on the carrier, and the other end is connected to the first connecting plate; the partition frame clamping mechanism and the pressing mechanism are disposed on the carrier; the tightening mechanism is disposed on the second connecting plate.

[0021] Optionally, the partition frame clamping mechanism includes a first clamping member, a second clamping member, and a driving member. The first clamping member and the second clamping member are both disposed on the support mechanism, and the driving member is connected to the control device.

[0022] The control device can control the drive member to drive one of the first clamping member and the second clamping member closer to the other to clamp the partition frame;

[0023] Alternatively, the control device can control the drive member to drive the first clamping member and the second clamping member to move closer to each other to clamp the partition frame.

[0024] Optionally, the clamping mechanism includes a clamping bracket, a clamping element, and an elastic element;

[0025] The clamping bracket is disposed on the support mechanism;

[0026] The clamping member is movably disposed on the clamping bracket, and the clamping member is used to clamp the partition frame;

[0027] The two ends of the elastic element are respectively connected to the clamping bracket and the clamping element to provide clamping force.

[0028] Optionally, the clamping mechanism further includes a monitoring component, which includes a second sensor and a second sensor bracket;

[0029] One end of the second sensor is connected to the elastic element, and the other end is connected to the second sensor bracket. The second sensor bracket is disposed on the support mechanism, and the second sensor is used to monitor the clamping force provided by the elastic element.

[0030] Optionally, the clamping mechanism further includes a locking assembly and a locking member. The locking assembly is connected to the support mechanism, and the locking member is disposed on the clamping member. The locking assembly can lock the locking member when the clamping member clamps the partition.

[0031] Optionally, the clamping mechanism includes a lifting assembly, a telescopic assembly, and a clamping member;

[0032] The lifting assembly is connected to one side of the support mechanism. The telescopic assembly is disposed on the lifting assembly and can move vertically under the drive of the lifting assembly. The clamping member is rotatably installed on the end of the telescopic assembly away from the lifting assembly and is used to abut against the partition frame.

[0033] Optionally, the clamping device further includes a partition frame limiting mechanism, which is detachably connected to the support mechanism. The partition frame limiting mechanism is used to abut against the partition frame to limit the degree of freedom of the partition frame in the direction perpendicular to the ground.

[0034] On the other hand, a partition frame assembly method is provided, applicable to the above-mentioned partition frame assembly system, the partition frame assembly method comprising the following steps:

[0035] S1. The driving device drives the clamping device to move to the designated position, and the clamping device clamps the partition frame;

[0036] S2. The identification device identifies the position and orientation information of the partition frame, and the driving device adjusts the position and orientation of the clamping device according to the position and orientation information of the partition frame.

[0037] S3. The control device controls the drive device to drive the clamping device, and the clamping device brings the partition frame close to the skin.

[0038] S4. After the partition frame contacts the skin, the driving device adjusts the clamping device according to the information measured by the monitoring device until the contact force between the connecting surface of the partition frame and the skin is evenly distributed.

[0039] S5. After positioning and clamping are completed, connect the partition frame and the skin;

[0040] S6. After the connection is completed, the clamping device releases the partition frame.

[0041] The beneficial effects of this invention are:

[0042] The partition frame assembly system disclosed in this invention uses a clamping device on a drive unit to clamp the partition frame. The drive unit moves the clamping device and thus the partition frame for assembly. A monitoring device collects the force information of the clamping device during the assembly process and transmits the data to a control device. The control device can then adjust the movement of the drive unit. Simultaneously, the system uses a recognition device to identify the position and posture information of the partition frame, thereby adjusting the posture of the partition frame. This allows for better control of the clamping force on the partition frame and enables better assembly of the partition frame with the skin.

[0043] The bulkhead assembly method disclosed in this invention involves a control device controlling a clamping device on a drive unit to hold the bulkhead during assembly. The drive unit then moves the bulkhead to a position that matches the inner surface of the aircraft skin. This eliminates the need for numerous rigid positioning fixtures and extensive manual labor. Furthermore, during assembly, an identification device measures the positioning features on the bulkhead and sends the data to the control device, enabling real-time sensing of the contact state between the bulkhead's connecting surfaces and the skin. The control device calculates the bulkhead's pose adjustment and converts it into the clamping device's pose adjustment. This achieves high-precision, high-quality positioning of the bulkhead and skin under uncertain conditions, meeting the requirements for precise, low-stress assembly of large aircraft panels and realizing low-cost, high-efficiency assembly. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0045] Figure 1 This is a first view of the partition frame assembly system provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the clamping device provided in an embodiment of the present invention;

[0047] Figure 3 This is a partial exploded view of the clamping device provided in an embodiment of the present invention;

[0048] Figure 4 This is an exploded view of the support mechanism provided in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the structure of the frame clamping mechanism provided in an embodiment of the present invention;

[0050] Figure 6 This is an exploded view of the clamping mechanism provided in an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the corner plate clamping mechanism provided in an embodiment of the present invention.

[0052] Figure 8 This is a flowchart of the partition assembly method provided in an embodiment of the present invention.

[0053] In the picture:

[0054] 1. Drive device; 2. Clamping device;

[0055] 21. Support mechanism; 211. Bearing component; 2111. Long octagonal profile; 2112. Short octagonal profile; 212. First connecting plate; 213. Second connecting plate;

[0056] 22. Frame clamping mechanism; 221. First frame clamping connecting plate; 222. Second frame clamping connecting plate; 223. Rotation drive component; 224. Adapter flange; 225. Frame clamping bracket; 226. Rubber-coated bearing;

[0057] 23. Clamping mechanism; 231. Partition frame clamping connecting plate; 2311. Slide rail; 232. Elastic element bracket; 233. Elastic element; 234. Slider; 235. Pressure roller mounting plate; 236. Pressure roller; 237. Second sensor; 238. Second sensor bracket; 239. Brake; 2310. Brake bracket;

[0058] 24. Tightening mechanism; 241. Lifting assembly; 242. Telescopic assembly; 243. Tightening plate bracket; 244. Tightening component;

[0059] 25. Frame limiting mechanism; 3. Monitoring device;

[0060] 4. Identification device. Detailed Implementation

[0061] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0062] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0063] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0064] like Figure 1 As shown, this embodiment provides a partition frame assembly system for positioning a partition frame onto a skin. The partition frame assembly system includes a drive device 1, a clamping device 2, a monitoring device 3, an identification device 4, and a control device (not shown in the figure).

[0065] The clamping device 2 is installed on the drive device 1 and is used to clamp the partition frame and press it against the inner surface of the skin. The monitoring device 3 is installed between the drive device 1 and the clamping device 2 and is used to collect the force information of the clamping device 2 during assembly. The identification device 4 is used to identify the position and posture information of the partition frame. The control device is communicatively connected to the drive device 1, the clamping device 2, the monitoring device 3, and the identification device 4.

[0066] For example, in this embodiment, the partition frame is a composite material partition frame, which can reduce weight while increasing the service life of the partition frame. The drive device 1 is an industrial robot, located inside the open wall panel and mounted on a guide rail, which is fixedly connected to the ground. The industrial robot can move along the X, Y, and Z directions with the object. The end effector of the industrial robot is a part used for grasping or manipulating, and can move the clamping device 2 mounted thereon in multiple directions. Specifically, the end effector of the industrial robot is provided with a first flange, and the clamping device 2 is disposed on the first flange. The monitoring device 3 is a six-axis force sensor, which collects the six-axis force information of the clamping device 2 during the assembly process. The identification device 4 is a laser tracker that can identify the position and posture information of the partition frame. The control device is a host computer that can issue commands to the drive device 1, the clamping device 2, the monitoring device 3, and the identification device 4.

[0067] Of course, in other embodiments, the drive device 1 can use a method that carries the clamping device 2 to press the partition frame against the inner surface of the skin, such as a multi-directional mechanical gripper, which is prior art and is not specifically limited in this embodiment.

[0068] Understandably, this bulkhead assembly system utilizes a gripping device 2 mounted on the end effector of an industrial robot, enabling the robot to move the bulkhead while gripping it. During bulkhead assembly, the host computer controls the gripping device 2 on the industrial robot to hold the bulkhead and move the robot along the guide rail to move the bulkhead to a position that matches the inner surface of the aircraft skin, eliminating the need for numerous rigid positioning fixtures and manual labor. Furthermore, during this process, the identification device 4 measures the positioning features on the bulkhead and sends the data to the host computer. The host computer can then adjust the movement of the industrial robot, thereby adjusting the bulkhead's posture, better controlling the clamping force of the bulkhead, and ensuring better assembly of the bulkhead with the skin.

[0069] Further, see Figure 2 and Figure 3 The clamping device 2 includes a support mechanism 21, a partition frame clamping mechanism 22, a pressing mechanism 23, and a top clamping mechanism 24;

[0070] The support mechanism 21 is connected to the drive device 1. The frame clamping mechanism 22, the pressing mechanism 23, and the tightening mechanism 24 are all mounted on the support mechanism 21. The frame clamping mechanism 22 is used to clamp the frame. The pressing mechanism 23 is used to apply a pressing force to the frame to eliminate the gap between the frame and the inner surface of the skin. The tightening mechanism 24 can tighten the frame. It can be understood that by installing the frame clamping mechanism 22, the pressing mechanism 23, and the tightening mechanism 24 on the support mechanism 21, the support mechanism 21 can not only clamp the frame, but also, during the process of clamping the frame and positioning it to the skin, the pressing mechanism 23 can simultaneously press the frame to the skin to eliminate assembly gaps; the tightening mechanism 24 tightens the corner pieces on the frame to prevent the corner pieces on the frame from separating from the skin and creating gaps when holes are drilled in the frame to connect the frame and the skin, thus achieving high-quality automated assembly positioning and clamping of the frame.

[0071] In some embodiments, such as Figure 4 As shown, the support mechanism 21 includes a carrier member 211, a first connecting plate 212, and a second connecting plate 213. The first connecting plate 212 is connected to the drive device 1. One end of the second connecting plate 213 is disposed on the carrier member 211, and the other end is connected to the first connecting plate 212. A frame clamping mechanism 22 and a pressing mechanism 23 are disposed on the carrier member 211. A clamping mechanism 24 is disposed on the second connecting plate 213. More specifically, in this embodiment, the carrier member 211 is an octagonal profile, and two octagonal profiles are provided, namely a long octagonal profile 2111 and a short octagonal profile 2112, which are parallel and fitted together to support the entire tooling. The second connecting plate 213 is provided in four pieces. Two second connecting plates 213 are provided on each side of the two octagonal profiles that are facing away from each other. The two second connecting plates 213 on the same side are arranged at intervals in the vertical direction. The long plate of the second connecting plate 213 is connected to the same side of the two octagonal profiles. The short plate of the second connecting plate 213 is connected to the first connecting plate 212. The first connecting plate 212 is connected to the driving device 1. Understandably, multiple threaded holes are provided on the two octagonal profiles. The short octagonal profile 2112 is positioned between the long octagonal profile 2111 and the first connecting plate 212. This arrangement not only enhances the strength of the tooling support mechanism through the short octagonal profile 2112, but also provides sufficient installation positions through the externally positioned long octagonal profile 2111. This facilitates the installation of the frame clamping mechanism 22, the pressing mechanism 23, and the top clamping mechanism 24, thereby enabling the drive device 1 to move the clamping device 2 more effectively. Consequently, the frame clamped by the clamping device 2 can be moved to the position where it fits against the inner surface of the skin.

[0072] In some embodiments, the support member 211 can also be a rectangular profile. Multiple connecting holes are provided on the side of the support member 211. This arrangement eliminates the need for the first connecting plate 212 and the second connecting plate 213. One side of the support mechanism 21 is directly connected to the drive device 1, while the other sides are used for the installation of the frame clamping mechanism 22, the pressing mechanism 23, and the top clamping mechanism 24. Of course, the support mechanism 21 and the first connecting member are not specifically limited in this embodiment. Further, as... Figure 2 , Figure 3 and Figure 5 As shown, the partition frame clamping mechanism 22 includes a first clamping member, a second clamping member, and a driving member. Both the first and second clamping members are disposed on the support mechanism 21, and the driving member is connected to a control device. The control device can control the driving member to drive the first clamping member closer to the second clamping member to clamp the partition frame.

[0073] Of course, in other embodiments, the control device may control the drive member to drive the second clamping member to approach the first clamping member to clamp the partition, or the control device may control the drive member to drive the first clamping member and the second clamping member to approach each other to clamp the partition, which will not be elaborated here.

[0074] Specifically, in this embodiment, the first clamping member is a first partition frame clamping connecting plate 221, and the second clamping member is a second partition frame clamping connecting plate 222. The first partition frame clamping connecting plate 221 and the second partition frame clamping connecting plate 222 are respectively installed on two opposite sides of the support mechanism 21. A partition frame clamping bracket 225 is provided on the first partition frame clamping connecting plate 221, and the partition frame clamping bracket 225 can rotate relative to the first partition frame clamping connecting plate 221. The driving member is a rotary driving member 223, and the control mechanism is connected to the rotary driving member 223. The rotary driving member 223 is used to drive the partition frame clamping bracket 225 on the first partition frame clamping connecting plate 221 to rotate, so that the partition frame clamping bracket 225 moves closer to the second partition frame clamping connecting plate 222 to clamp the partition frame.

[0075] For example, such as Figure 5As shown, the rotary drive component 223 is a rotary cylinder, installed above the first partition frame clamping connecting plate 221. The partition frame clamping bracket 225 is installed above the rotary cylinder via an adapter flange 224. A rubber-coated bearing 226 is installed on the partition frame clamping bracket 225. The control device is connected to the rotary cylinder, which drives the rubber-coated bearing 226 on the partition frame clamping bracket 225 to abut or separate from the second partition frame clamping connecting plate 222. A second rubber-coated bearing 226 is provided on the second partition frame clamping connecting plate 222. It can be understood that in this embodiment, the first partition frame clamping connecting plate 221 and the second partition frame clamping connecting plate 222 are respectively bolted to the opposite sides of the long octagonal profile 2111 in the support mechanism 21. The partition frame clamping bracket 225 is connected to the output end of the rotary cylinder via the adapter flange 224. A rubber-coated bearing 226 is provided on the opposite side of the partition frame clamping bracket 225 and the second partition frame clamping connecting plate 222. When clamping the partition frame is required, the rubber-coated bearing 226 on the second partition frame clamping connecting plate 222 is first brought into contact with one side of the partition frame. The control device then connects the air passage, controlling the rotary cylinder to rotate the clamping bracket, causing the rubber-coated bearing 226 on the clamping bracket to come into contact with the other side of the partition frame. The rubber-coated bearing 226 prevents hard contact between the partition frame clamping mechanism 22 and the partition frame, thus avoiding scratches or indentations on the partition frame and extending the service life of the partition frame clamping mechanism 22.

[0076] Of course, in other embodiments, the driving component can also be a linear cylinder. Under the drive of the linear cylinder, the first partition frame clamping connecting plate 221 causes the partition frame clamping bracket 225 to move toward the second partition frame clamping connecting plate 222 to clamp the partition frame. This is prior art and is not specifically limited in this embodiment.

[0077] Furthermore, the clamping mechanism 23 includes a clamping bracket, a clamping member, and an elastic member 233. The clamping bracket is disposed on the support mechanism 21, and the clamping member is movably disposed on the clamping bracket, and the clamping member is used to clamp the partition frame. The two ends of the elastic member 233 are respectively connected to the clamping bracket and the clamping member to provide clamping force.

[0078] For example, such as Figure 2 and Figure 6As shown, in this embodiment, the clamping bracket includes two spacer clamping connecting plates 231, which are disposed on opposite sides of the support mechanism 21. Each spacer clamping connecting plate 231 has a slide rail 2311. Each slide rail 2311 has a slider 234. The clamping component includes a pressure roller 236 and a pressure roller mounting plate 235. The pressure roller 236 is disposed on the pressure roller mounting plate 235, which connects to both sliders 234 and can move along the guide rail under the drive of the sliders 234. The elastic element 233 is a spring sleeved on the slide rail 2311 and located between the slider 234 and the spacer clamping connecting plate 231, to provide clamping force to the slider 234. Understandably, during operation, the spring on the slide rail 2311 can press the slider 234 against the pressure roller mounting plate 235, and the pressure roller 236 on the pressure roller mounting plate 235 presses the partition frame under the action of the elastic force, generating a pressing force, thereby pressing the partition frame onto the skin.

[0079] Of course, in other embodiments, the clamping bracket and clamping element may also be of other forms, as long as they can press the partition frame onto the skin.

[0080] Furthermore, in some embodiments, the clamping mechanism 23 further includes a monitoring component, which includes a second sensor 237 and a second sensor bracket 238. One end of the monitoring component is connected to the elastic member 233, and the other end is connected to the second sensor bracket 238, which is disposed on the support mechanism 21. The second sensor 237 is used to detect the clamping force passing through the elastic member 233.

[0081] Specifically, such as Figure 6 As shown, in this embodiment, the second sensor 237 is a unidirectional force sensor. The second sensor bracket 238 is fastened to the support mechanism 21 by bolts or the like. The clamping bracket also includes an elastic element bracket 232, with both ends of the elastic element bracket 232 fixed to two slide rails 2311 respectively. One end of the elastic element 233 is connected to the elastic element bracket 232, and the other end is connected to the slider 234. One end of the monitoring component abuts against the center of the elastic element bracket 232, and the other end abuts against the center of the second sensor bracket 238. It can be understood that by fixing the unidirectional force sensor with the second sensor bracket 238 and the monitoring component abutting against the center of the elastic element bracket 232, the clamping force applied by the pressure roller 236 to the partition can be transmitted more accurately. Thus, when the pressure roller 236 clamps the partition, the elastic element bracket 232 connected to the other end of the spring generates an elastic force on the monitoring component, and the monitoring component can realize the measurement of the clamping force, which is beneficial to more accurately grasp the clamping force applied to the partition.

[0082] Furthermore, in some embodiments, the clamping mechanism 23 further includes a locking component and a locking member. The locking component is connected to the support mechanism 21, and the locking member is disposed on the clamping member. The locking component can lock the locking member when the clamping member clamps the partition.

[0083] Specifically, such as Figure 3 , Figure 4 and Figure 6 As shown, in this embodiment, the locking assembly includes a brake 239 and a brake bracket 2310. The brake bracket 2310 is connected to the support mechanism 21, and the brake 239 is mounted on the brake bracket 2310. A locking element (not shown) is mounted on the pressure roller mounting plate 235. More specifically, the brake 239 is a pneumatic brake. The brake bracket 2310 is bolted into the threaded hole of the long octagonal profile 2111 and contacts the lower part of the two spacer clamping connecting plates 231. The brake 239 is mounted on the brake bracket 2310 with fastening screws. During operation, after the spacer is positioned and clamped, the brake 239 locks the brake pads mounted on the pressure roller mounting plate 235 to brake the pressure roller 236, maintaining a stable clamping state on the spacer and providing a basis for subsequent connection of the spacer and the skin.

[0084] Furthermore, in some embodiments, the clamping mechanism 24 includes a lifting assembly 241, a telescopic assembly 242, and a clamping member 244. The lifting assembly 241 is connected to one side of the support mechanism 21, the telescopic assembly 242 is disposed on the lifting assembly 241 and can move vertically under the drive of the lifting assembly 241, and the clamping member 244 is rotatably mounted on the end of the telescopic assembly 242 away from the lifting assembly 241 and is used to abut against the partition frame.

[0085] Specifically, in this embodiment, such as Figure 3 and Figure 7 As shown, the lifting assembly 241 is a linear module, which is bolted to one side of the support mechanism 21. The telescopic assembly 242 is a linear cylinder mounted on the linear module. A clamping plate bracket 243 is provided on the moving shaft of the linear cylinder, and a clamping member 244 is installed in the shaft hole on the side of the clamping plate bracket 243, allowing the clamping member 244 to rotate. During operation, after the partition frame is positioned and clamped, the control device controls the linear module to move vertically. Once it reaches the designated position, the linear cylinder is vented, the clamping plate bracket 243 extends, driving the clamping member 244 to extend as well. The angle of the clamping member 244 is adjusted to clamp the corner pieces on the partition frame, providing clamping force to the corner pieces when connecting the partition frame and the skin, ensuring the partition frame and skin fit together for subsequent connection. The clamping force of the corner pieces can be adjusted by regulating the input air pressure of the linear cylinder.

[0086] Furthermore, in some embodiments, the clamping device 2 further includes a partition frame limiting mechanism 25, which is detachably connected to the support mechanism 21. The partition frame limiting mechanism 25 is used to abut against the partition frame to limit the degree of freedom of the partition frame in the direction perpendicular to the ground.

[0087] Specifically, in this embodiment, such as Figure 3 As shown, the partition frame limiting mechanism 25 is an L-shaped plate with connecting holes, which is fastened to the bottom of the support mechanism 21 with bolts. During operation, the bottom surface of the partition frame presses against the L-shaped plate, thereby restricting its vertical movement.

[0088] This embodiment also provides a method for assembling a partition frame, such as... Figure 8 As shown, the method includes the following steps:

[0089] S1. Drive device 1 drives clamping device 2 to move to the designated position, and clamping device 2 clamps the partition frame;

[0090] S2. The identification device 4 identifies the position and orientation information of the partition frame, and the driving device 1 adjusts the position and orientation of the clamping device 2 according to the position and orientation information of the partition frame.

[0091] S3. The control device controls the drive device 1 to drive the clamping device 2, and the clamping device 2 brings the partition frame closer to the skin.

[0092] S4. After the partition frame contacts the skin, the drive device 1 adjusts the clamping device 2 according to the information measured by the monitoring device 3 until the contact force between the connecting surface of the partition frame and the skin is evenly distributed.

[0093] S5. After positioning and clamping are completed, connect the partition frame and the skin;

[0094] S6. After the connection is completed, the clamping device 2 releases the partition frame.

[0095] Specifically, in this embodiment, multiple positioning measurement feature points are set on the partition frame, and all of these feature points are located on the web surface of the partition frame, with a number of no less than three. Each feature point is correspondingly provided with a clamping device 2, a detection device 3, and an identification device 4.

[0096] In step S2, the position data of the positioning measurement feature points on the partition are measured by the laser tracker and sent to the host computer. The host computer calculates the partition pose adjustment amount required for the industrial robot to press the partition from the actual shape to the theoretical shape, and converts the partition pose adjustment amount into the robot flange pose adjustment amount (the pose adjustment of the first flange set on the industrial robot), and controls the industrial robot to move with the clamping device 2.

[0097] More specifically, the partition frame pose adjustment amount is obtained by establishing an X, Y, Z three-axis coordinate system based on the partition frame pose information identified by the recognition device 4, and then converting it into the robot flange pose adjustment amount of the first flange in the coordinate system. This adjustment is then used to control the industrial robot to adjust the position of the first flange so that the partition frame is in its theoretical shape when in contact with the skin. It can be understood that the partition frame pose adjustment amount is calculated based on the best-fit principle, using the result of the laser tracker identifying the partition frame pose information.

[0098] like Figures 1 to 7 As shown, in step S4, after the corner piece in the middle of the partition frame contacts the skin, when the partition frame continues to be pressed along the Z direction, the upper and lower sets of pressing mechanisms 23 of the clamping device 2 will generate a pressing force, causing the partition frame to deform to eliminate the gap. At the same time, the monitoring component on the pressing mechanism 23 monitors and records the actual pressing force, which is convenient for subsequent process analysis.

[0099] It is understood that the bulkhead assembly method disclosed in this invention, during bulkhead assembly, involves a control device controlling a clamping device 2 on a drive device 1 to clamp the bulkhead and moving the drive device 1 with the bulkhead to a position matching the inner surface of the aircraft skin. This eliminates the need for numerous rigid positioning fixtures for bulkhead positioning and a large amount of manual labor. Furthermore, during assembly, an identification device 4 measures the positioning features on the bulkhead and sends the data to the control device. This allows for real-time sensing of the contact state between each connecting surface of the bulkhead and the skin. The control device can calculate the positional adjustment of the bulkhead and, through the transformation relationship between the bulkhead coordinate system and the first flange coordinate system, convert the positional adjustment of the bulkhead into the positional adjustment of the first flange. This enables high-precision, high-quality positioning of the bulkhead and skin under uncertain working conditions, meeting the requirements for precise, low-stress assembly of large aircraft panels and achieving low-cost, high-efficiency assembly.

[0100] It is understandable that more than one partition is connected to the skin, and after step S6, step S7 is also included, repeating steps S1 to S6 to assemble other partitions.

[0101] More specifically, to facilitate the subsequent assembly of other partitions, after the clamping device 2 releases the partition, the drive device 1 moves to its initial position. This arrangement allows the identification device 4 to accurately obtain the positional adjustment information of the partitions during the subsequent assembly of other partitions.

[0102] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A frame assembly system for positioning a frame onto a skin, characterized in that, The partition frame assembly system includes: Drive unit (1); Clamping device (2), installed on the drive device (1), is used to clamp the partition frame and press the partition frame against the inner surface of the skin; A monitoring device (3) is installed between the driving device (1) and the clamping device (2) to collect the force information of the clamping device (2) during the assembly process; The identification device (4) is used to identify the pose information of the partition frame; The control device is communicatively connected to the drive device (1), the clamping device (2), the monitoring device (3), and the identification device (4); The clamping device (2) includes a support mechanism (21), a partition frame clamping mechanism (22), a pressing mechanism (23), and a top clamping mechanism (24). The support mechanism (21) is connected to the drive device (1), and the frame clamping mechanism (22), the pressing mechanism (23) and the top clamping mechanism (24) are all installed on the support mechanism (21); The partition frame clamping mechanism (22) is used to clamp the partition frame; The clamping mechanism (23) is used to apply clamping force to the partition frame to eliminate the gap between the partition frame and the inner surface of the skin; The clamping mechanism (24) can clamp the partition frame.

2. The partition frame assembly system according to claim 1, characterized in that, The support mechanism (21) includes a bearing member (211), a first connecting plate (212), and a second connecting plate (213). The first connecting plate (212) is connected to the driving device (1); one end of the second connecting plate (213) is disposed on the carrier (211), and the other end is connected to the first connecting plate (212); the partition frame clamping mechanism (22) and the pressing mechanism (23) are disposed on the carrier (211); the top clamping mechanism (24) is disposed on the second connecting plate (213).

3. The partition frame assembly system according to claim 1, characterized in that, The partition frame clamping mechanism (22) includes a first clamping member, a second clamping member, and a driving member. The first clamping member and the second clamping member are both disposed on the support mechanism (21), and the driving member is connected to the control device. The control device can control the drive member to drive one of the first clamping member and the second clamping member closer to the other to clamp the partition frame; Alternatively, the control device can control the drive member to drive the first clamping member and the second clamping member to move closer to each other to clamp the partition frame.

4. The partition frame assembly system according to claim 1, characterized in that, The clamping mechanism (23) includes a clamping bracket, a clamping element, and an elastic element (233); The clamping bracket is disposed on the support mechanism (21); The clamping member is movably disposed on the clamping bracket, and the clamping member is used to clamp the partition frame; The two ends of the elastic element (233) are respectively connected to the clamping bracket and the clamping element to provide clamping force.

5. The partition frame assembly system according to claim 4, characterized in that, The clamping mechanism (23) also includes a monitoring component, which includes a second sensor (237) and a second sensor bracket (238). One end of the second sensor (237) is connected to the elastic element (233), and the other end is connected to the second sensor bracket (238). The second sensor bracket (238) is disposed on the support mechanism (21). The second sensor (237) is used to monitor the clamping force provided by the elastic element (233).

6. The partition frame assembly system according to claim 4, characterized in that, The clamping mechanism (23) further includes a locking component and a locking member. The locking component is connected to the support mechanism (21), and the locking member is disposed on the clamping member. The locking component can lock the locking member when the clamping member clamps the partition.

7. The partition frame assembly system according to claim 1, characterized in that, The clamping mechanism (24) includes a lifting assembly (241), a telescopic assembly (242), and a clamping member (244). The lifting assembly (241) is connected to one side of the support mechanism (21), the telescopic assembly (242) is disposed on the lifting assembly (241) and can move vertically under the drive of the lifting assembly (241), and the clamping member (244) is rotatably installed at one end of the telescopic assembly (242) away from the lifting assembly (241) and is used to abut against the partition frame.

8. The partition frame assembly system according to claim 1, characterized in that, The clamping device (2) further includes a partition frame limiting mechanism (25), which is detachably connected to the support mechanism (21). The partition frame limiting mechanism (25) is used to abut against the partition frame to limit the degree of freedom of the partition frame in the direction perpendicular to the ground.

9. A method for assembling a partition frame, applicable to the partition frame assembly system according to any one of claims 1-8, characterized in that, Includes the following steps: S1. The driving device (1) drives the clamping device (2) to move to the designated position, and the clamping device (2) clamps the partition frame; S2. The identification device (4) identifies the position and pose information of the partition frame, and the driving device (1) adjusts the position and pose of the clamping device (2) according to the position and pose information of the partition frame. S3. The control device controls the drive device (1) to drive the clamping device (2), and the clamping device (2) brings the partition frame close to the skin; S4. After the partition frame contacts the skin, the driving device (1) adjusts the clamping device (2) according to the information measured by the monitoring device (3) until the contact force between the connecting surface of the partition frame and the skin is evenly distributed. S5. After positioning and clamping are completed, connect the partition frame and the skin; S6. After the connection is completed, the clamping device (2) releases the partition frame, and the driving device (1) moves to the initial position.

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