Aircraft assembly modular clamp and control method

Abstract

The invention discloses an aircraft assembly modularized clamp and a control method. The clamp comprises a T-shaped sliding module, a supporting module is arranged at the upper end of the T-shaped sliding module, an arc-shaped sliding rail is arranged at the upper end of the supporting module, at least two moving modules are arranged on the sliding rail, and an arc-shaped rack is arranged on the inner side of the sliding rail in the length direction; a cylindrical gear meshed with the rack is arranged on the movement module, and the cylindrical gear is driven by a servo motor to roll on the rack so as to drive the movement module to slide on the sliding rail; a telescopic suction cup assembly is arranged at the upper end of the movement module and connected with a part through a suction cup at the end. The control method comprises steps S1 to S6. The system adapts to complex part curved surfaces, in order to improve the self-adaptive capacity of the system, a self-adaptive fuzzy PID controller is adopted for conducting real-time self-regulation and control on clamping force, deviation and the deviation rate serve as input variables, the dynamic characteristics of the system can be captured more comprehensively, and therefore the system is adjusted in time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft parts assembly, in particular to an aircraft assembly modular clamp and control method. BACKGROUND

[0002] At present, special clamps are still mainly used in the process of aircraft assembly. However, special clamps lack universality and interchangeability. If the size and structure of the parts change, the clamps need to be redesigned and manufactured, which leads to higher cost of aircraft assembly. In the field of aviation manufacturing, aircraft assembly, as a key link of aircraft production, plays a decisive role in the quality, performance and production efficiency of aircraft. For a long time, aircraft parts are mostly non-standard parts, and a variety of special clamps are needed in the assembly process. In addition, the cost of special clamps is relatively high, accounting for about 5% of the total cost of aircraft manufacturing. In addition, there are many aircraft parts, which leads to the need to replace the corresponding clamps at any time during the assembly process, further leading to a large amount of labor in the process of aircraft assembly, accounting for more than half of the total labor of aircraft manufacturing. In addition, special clamps also have problems such as long manufacturing cycle and poor universality, which have been difficult to meet the needs of the rapid development of modern aviation manufacturing. SUMMARY

[0003] In view of the above shortcomings of the prior art, the present application provides an aircraft assembly modular clamp and control method to improve the universality of aircraft tooling clamps and shorten the assembly cycle of aircraft parts.

[0004] To achieve the above-mentioned purposes, the technical scheme adopted by the present application is as follows: The present application provides an aircraft assembly modular clamp, which comprises a T-shaped sliding module, the upper end of the T-shaped sliding module is provided with a support module, the upper end of the support module is provided with an arc-shaped sliding rail, at least two movement modules are arranged on the sliding rail, an arc-shaped rack is arranged on the inner side of the sliding rail along the length direction, a cylindrical gear meshing with the rack is arranged on the movement module, the cylindrical gear is driven to roll on the rack by a servo motor, thereby driving the movement module to slide on the sliding rail; the upper end of the movement module is provided with a telescopic suction cup assembly, the telescopic suction cup assembly is connected with the parts through the suction cups at the end.

[0005] Further, the movement module comprises a movable block and a clamping block, a U-shaped sliding groove is formed in the movable block, the U-shaped sliding groove is buckled on the rack, the cylindrical gear is installed at the bottom of the U-shaped sliding groove, and the cylindrical gear is rotatably connected with the installation groove formed at the bottom of the U-shaped sliding groove through a gear shaft, and the servo motor is arranged in the movable block and rotatably connected with the gear shaft; Arc-shaped strip holes are formed on both sides of the rack on the sliding rail, at least two connecting rods are connected between the clamping block and the movable block, the clamping block is distributed on the outer side of the sliding rail, and the two connecting rods are respectively inserted through the two strip holes and slidably arranged in the strip holes.

[0006] Further, the two opposite surfaces of the movable block and the clamping block are arc-shaped surfaces that are attached to the inner and outer surfaces of the sliding rail, the connecting rod is a first electric telescopic rod arranged on the arc-shaped surface of the clamping block, the end of the first electric telescopic rod is provided with a threaded hole, the arc-shaped surface of the movable block is provided with a stepped hole corresponding to the first electric telescopic rod, the bottom of the stepped hole is also provided with a threaded hole, and the end of the first electric telescopic rod is connected with the stepped hole through a countersunk screw.

[0007] Further, a rubber brake piece is arranged on the arc-shaped surface of the movable block, the countersunk screw passes through the rubber brake piece, and the first electric telescopic rod is retracted to press the inner side of the sliding rail against the rubber brake piece, thereby achieving braking of the movement module.

[0008] Further, a convex rib for mounting the rack is arranged on the inner surface of the sliding rail, arc-shaped limiting strips corresponding to the rack are arranged on both sides of the convex rib, opposite U-shaped grooves are arranged on both sides of the U-shaped sliding groove, the arc-shaped limiting strips are respectively arranged in the U-shaped grooves in a sliding manner, a sliding gap is arranged between the arc-shaped limiting strips and the inner surface of the sliding rail, rollers that roll with the surfaces of the arc-shaped limiting strips are arranged in the U-shaped grooves, and the rollers are arranged in the U-shaped grooves in a rotating manner.

[0009] Further, the telescopic suction disc assembly comprises a suction disc base, the lower end of the suction disc base is provided with a plug, the upper end of the movable block is provided with a plug hole matched with the plug, a metal spring piece is arranged in the plug hole, the plug is inserted into the plug hole and fixed through the metal spring piece, the upper end of the suction disc base is provided with a plurality of second electric telescopic rods, and the end of each second electric telescopic rod is provided with an electric suction disc. Further, the upper end of the movable block is provided with a pressure sensor, and the bottom of the suction disc base presses the pressure sensor to detect the real-time clamping force on the part.

[0010] Further, the T-shaped sliding module comprises a fixed block, the upper end of the fixed block is provided with a threaded column, the support module comprises a U-shaped support block, the sliding rail is fixed to the upper end of the support block, the lower end of the support block is provided with a support column, the lower end of the support column is provided with a support disc, the lower end of the support disc is fixedly connected with the threaded column, and a locking nut is arranged on the threaded column.

[0011] Further, the upper end of the support block is provided with opposite U-shaped notches on both sides, the sliding rail is arranged in the U-shaped notches, and the U-shaped notches and the side surfaces of the sliding rail are connected through bolts.

[0012] A control method for dynamically regulating the extension and retraction of the second electric telescopic rod in the above-mentioned aircraft assembly modular clamp is provided, which comprises the following steps: S1: constructing an adaptive fuzzy PID controller for dynamically regulating the extension and retraction state of the second electric telescopic rod, and setting the initial coefficients of the adaptive fuzzy PID controller , are initial proportional, integral and derivative coefficients, respectively; S2: calculating the expected clamping force of the part according to the parameters of the part ;

[0013] wherein, F G is the weight of the part, m is the mass of the part, g is the acceleration of gravity, F in is the vibration inertial force, a is the maximum vibration acceleration generated during the assembly process of the part, F load v is the vertical resultant force of the external load of the part, F op is the assembly operation force, is the angle between the vibration direction and the horizontal plane, is the angle between the assembly operation force and the horizontal plane, F load h is the horizontal resultant force of the external load of the part, F 摩擦力 is the friction force in the horizontal plane, A is a constant term, F 水平夹紧 is the clamping force required to prevent horizontal movement of the part, f is the friction coefficient, F is the moment balance force, l i is the moment balance force F to the shortest distance of the symmetrical plane in the direction of the rack, l G is the shortest distance of the center of gravity of the part to the symmetrical plane, l in is the vibration inertial force F in to the shortest distance of the symmetrical plane, l op is the assembly operation force F op to the shortest distance of the symmetrical plane, K is the safety factor, is the efficiency of the second electric telescopic rod; S3: calculating the real-time clamping force of the part according to the current output by the pressure sensor ; ; wherein, I cthe real-time output current of the pressure sensor, I max the maximum current that the pressure sensor can output, I min the minimum current that the pressure sensor can output, P max the maximum pressure of the pressure sensor range, P min the minimum pressure of the pressure sensor range; S4: Calculate the deviation of the clamping force and the expected clamping force e and the deviation rate , t at the collection time of the real-time clamping force, convert the deviation e and the deviation rate to fuzzy values e 模糊 , ec 模糊 and calculate the correction amount of the proportional coefficient, integral coefficient and differential coefficient ;

[0014] wherein, k e and k ec are the quantization factors of the deviation and the deviation rate, respectively, m max is the maximum value of the fuzzy domain, m min is the minimum value of the fuzzy domain, n max is the maximum value of the deviation or the deviation rate, n min is the minimum value of the deviation or the deviation rate, are the proportional factors of the correction amount , l max is the maximum value of the adjustment range of the correction amount , l min is the minimum value of the adjustment range of the correction amount , u p , u i , u d are the fuzzy domain values of the proportional coefficient, integral coefficient and differential coefficient, respectively, is the membership degree of the domain point in the fuzzy domain value, i ​Number the points in the domain; S5: According to the correction amount Calculate the modified proportional coefficient, integral coefficient and differential coefficient of the adaptive fuzzy PID controller

[0015]

[0016]

[0017] Wherein, The current time t The proportional coefficient, integral coefficient and differential coefficient of the adaptive fuzzy PID controller; S6: Use the modified proportional coefficient, integral coefficient and differential coefficient Calculate the output value of the adaptive fuzzy PID controller u Adjust the extension amount of the second electric telescopic rod through the output value u .

[0018] The beneficial effects of the present application are: The present application realizes the replacement of the clamping function module by providing a replacement interface on the motion module. In order to shorten the time of aligning the parts and the clamp, the present application selects a T-shaped sliding module which cooperates with a T-shaped groove base to enable the clamp as a whole to quickly move to a specified position. In order to avoid the concentration of clamping force, the present application uses a telescopic suction cup assembly as a clamping mechanism, which not only enables the clamping force to be evenly distributed, but also can adapt to complex part curved surfaces. In order to increase its adaptive ability, the present application uses an adaptive fuzzy PID controller to real-time self-regulate the clamping force, taking deviation and deviation rate as input, which can more comprehensively capture the system dynamic characteristics, so as to timely adjust the system. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a perspective view of the aircraft assembly modular clamp.

[0020] Figure 2 It is an internal structure diagram of the U-shaped sliding groove.

[0021] Figure 3 It is a structure diagram of the clamping block.

[0022] ​​Wherein, 1, fixed block, 2, threaded column, 3, locking nut, 4, support disc, 5, support column, 6, support block, 7, U-shaped notch, 8, arc limiting strip, 9, sliding rail, 10, movement module, 11, clamping block, 12, connecting rod, 13, telescopic suction cup assembly, 14, rubber brake piece, 15, stepped hole, 16, cylindrical gear, 17, gear shaft, 18, roller, 19, U-shaped sliding groove, 20, electric suction cup, 21, second electric telescopic rod, 22, suction cup base, 23, U-shaped groove, 24, movable block, 25, pressure sensor, 26, plug, 27, rack. DETAILED DESCRIPTION

[0023] The specific embodiments of the present application are described below to facilitate the understanding of the present application for those skilled in the art, but it should be clear that the present application is not limited to the scope of the specific embodiments, and for those skilled in the art, it is obvious that various changes are within the spirit and scope of the present application defined and determined by the appended claims, and all the inventions utilizing the concept of the present application are within the scope of protection.

[0024] As Figures 1-3 shown, an aircraft assembly modular clamp includes a T-shaped sliding module, the upper end of the T-shaped sliding module is provided with a support module, the upper end of the support module is provided with an arc-shaped sliding rail 9, at least two movement modules 10 are arranged on the sliding rail 9, the inner side of the sliding rail 9 is provided with an arc-shaped rack 27 along the length direction, the movement module 10 is provided with a cylindrical gear 16 engaged with the rack 27, the cylindrical gear 16 is driven by a servo motor to roll on the rack 27, thereby driving the movement module 10 to slide on the sliding rail 9; the upper end of the movement module 10 is provided with a telescopic suction cup assembly 13, the telescopic suction cup assembly 13 is connected to the part through the suction cup at the end.

[0025] The movement module 10 includes a movable block 24 and a clamping block 11, the movable block 24 is provided with a U-shaped sliding groove 19, the U-shaped sliding groove 19 is buckled on the rack 27, the cylindrical gear 16 is installed at the bottom of the U-shaped sliding groove 19, and the cylindrical gear 16 is rotatably connected with the installation groove at the bottom of the U-shaped sliding groove 19 through the gear shaft 17, and the servo motor is arranged in the movable block 24 and rotatably connected with the gear shaft 17.

[0026] The movement module 10 is moved on the sliding rail 9 by the servo motor, thereby adjusting the relative position to adapt to different part surfaces and shapes. The telescopic suction cup is used as the clamping mechanism, which not only can make the clamping force uniform, but also can adapt to complex curved surfaces.

[0027] The rack 27 on the sliding rail 9 is provided with arc-shaped strip holes on both sides, the clamping block 11 and the movable block 24 are connected by at least two connecting rods 12, the clamping block 11 is distributed on the outer side of the sliding rail 9, and the two connecting rods 12 are respectively arranged in the strip holes and are slidingly arranged in the strip holes.

[0028] The two opposite surfaces of the movable block 24 and the clamping block 11 are arc-shaped surfaces that are attached to the inner side and the outer side of the sliding rail 9, the connecting rod 12 is a first electric telescopic rod arranged on the arc-shaped surface of the clamping block 11, the end of the first electric telescopic rod is provided with a threaded hole, the arc-shaped surface of the movable block 24 is provided with a stepped hole 15 corresponding to the first electric telescopic rod, the bottom of the stepped hole 15 is also provided with a threaded hole, and the end of the first electric telescopic rod is connected with the stepped hole 15 through a countersunk screw.

[0029] The arc-shaped surface of the movable block 24 is provided with a rubber brake piece 14, the countersunk screw passes through the rubber brake piece 14, and the first electric telescopic rod is retracted to press the inner side of the sliding rail 9 against the rubber brake piece 14, so as to brake the movement module 10.

[0030] The retraction of the first electric telescopic rod is used to clamp the sliding rail 9 by the movable block 24 and the clamping block 11, so as to brake and fix the movement module 10, the rubber brake piece 14 provides friction, and the surface of the contact surface is not damaged in the clamping and braking process.

[0031] The straight teeth on the inner side of the U-shaped sliding rail 9 can be directly engaged with the straight tooth cylindrical gear 16 in the movement module 10, so as to realize the action of the clamping position, when the clamping position is in place, the first telescopic rod is controlled to be shortened, the clamping block 11 and the rubber brake piece 14 are in contact with the corresponding surfaces of the sliding rail 9, and the fixing clamping is realized by the friction generated thereby.

[0032] The inner side of the sliding rail 9 is provided with a convex rib on which the rack 27 is mounted, both sides of the convex rib are provided with arc-shaped limiting strips 8 corresponding to and parallel to the rack 27, both sides of the U-shaped sliding groove 19 are provided with two opposite U-shaped grooves 23, both sides of the arc-shaped limiting strips 8 are slidingly arranged in the two U-shaped grooves 23, and a sliding gap is arranged between the arc-shaped limiting strips 8 and the inner side of the sliding rail 9, the U-shaped groove 23 is provided with a roller 18 that is rollingly matched with the surface of the arc-shaped limiting strip 8, and the roller 18 is rotationally arranged in the U-shaped groove 23. In the sliding process, the arc-shaped limiting strip 8 slides in the U-shaped groove 23, which can effectively improve the stability of the movement of the movement module 10.

[0033] The telescopic suction cup assembly 13 comprises a suction cup base 22, the lower end of the suction cup base 22 is provided with a plug joint 26, the upper end of the movable block 24 is provided with a plug hole matched with the plug joint 26, a metal elastic sheet is arranged in the plug hole, the plug joint 26 is inserted into the plug hole and is fixed by the metal elastic sheet, the metal elastic sheet is an elastic spring sheet, when the plug joint 26 is inserted into the plug hole, the elastic spring sheet gives a certain clamping force but does not affect the free telescoping of the two electric telescopic rods 21, the upper end of the suction cup base 22 is provided with a plurality of second electric telescopic rods 21, and the end of the second electric telescopic rod 21 is provided with an electric suction cup 20.

[0034] The upper end of the movable block 24 is provided with a pressure sensor 25, and the bottom of the suction cup base 22 extrudes the pressure sensor 25, so as to detect the real-time clamping force on the part.

[0035] The T-shaped sliding module comprises a fixed block 1, the upper end of the fixed block 1 is provided with a threaded column 2, the support module comprises a U-shaped support block 6, a sliding rail 9 is fixed on the upper end of the support block 6, the lower end of the support block 6 is provided with a support column 5, the lower end of the support column 5 is provided with a support disc 4, the lower end of the support disc 4 is fixedly connected with the threaded column 2, and the threaded column 2 is provided with a locking nut 3.

[0036] The upper end of the support block 6 is provided with two opposite U-shaped notches 7 on both sides, the two sides of the sliding rail 9 are arranged in the U-shaped notches 7, and the U-shaped notches 7 and the side surfaces of the sliding rail 9 are connected through bolts.

[0037] During assembly, the height of the locking nut 3 in the T-shaped sliding module is adjusted first, so that it can be smoothly inserted into the T-shaped groove base, when the clamp reaches the appropriate position, the nut can be tightened, the position of the clamp is fixed through mechanical friction, then the part is introduced into the industrial software, and the simulation assembly with the clamp model is carried out, the pre-assembly scheme is obtained, and then it is converted into a control program, so as to control the rotation of the servo motor and drive the cylindrical gear 16, so that the movement module 10 is moved to the predetermined angle and position, the clamped part is put in, the second electric telescopic rod 21 is controlled to be elongated, and the electric suction cup 20 is flat or tangent to the surface of the part, then the electric suction cup 20 starts to be adsorbed, and the clamping of the part is realized.

[0038] A control method for dynamically regulating the telescoping of the second electric telescopic rod 21 in the above-mentioned aircraft assembly modular clamp, comprising the following steps: S1: constructing an adaptive fuzzy PID controller for dynamically regulating the telescoping state of the second electric telescopic rod 21, and setting the initial coefficients of the adaptive fuzzy PID controller , respectively, the initial proportional coefficient, the initial integral coefficient and the initial differential coefficient; S2: calculating the expected clamping force of the part according to the parameters of the part ;

[0039] wherein, F G is the weight of the part, m is the mass of the part, g is the acceleration of gravity, F in is the shock inertial force, a is the maximum vibration acceleration generated during the assembly process of the part, F load v is the vertical resultant force of the external load of the part, F op is the assembly operation force, is the angle between the shock direction and the horizontal plane, is the angle between the assembly operation force and the horizontal plane, F load h is the horizontal resultant force of the external load of the part, F 摩擦力 is the friction force in the horizontal plane, A is the constant term, F 水平夹紧 is the clamping force required to prevent horizontal movement of the part, f is the friction coefficient, F is the moment balance force, l i is the moment balance force F is the shortest distance from the center of gravity of the part to the symmetry plane in the direction of the rack 27, l G is the shortest distance from the center of gravity of the part to the symmetry plane, l in is the shock inertial force F in is the shortest distance from the center of gravity of the part to the symmetry plane, l op is the assembly operation force F op is the shortest distance from the center of gravity of the part to the symmetry plane, K is the safety factor, is the efficiency of the second electric telescopic rod 21; S3: calculating the real-time clamping force on the part according to the current output by the pressure sensor 25 ; ; wherein, I c is the real-time output current of the pressure sensor 25, I max is the maximum current that the pressure sensor 25 can output, I min is the minimum current that the pressure sensor 25 can output,P max This represents the maximum pressure of the pressure sensor's 25-range measurement. P min This is the minimum pressure within the 25-range of the pressure sensor. S4: Utilizing real-time clamping force and expected clamping force Calculate the deviation of clamping force e Sum of deviations , t For the real-time clamping force acquisition time, the deviation will be... e Sum of deviations Convert to fuzzy value e 模糊 , ec 模糊 And calculate the correction amounts for the proportional coefficient, integral coefficient, and differential coefficient. ;

[0040] in, k e and k ec These are the quantification factors for deviation and deviation rate, respectively. m max For the maximum value of the fuzzy universe of discourse, m min For the minimum value of the fuzzy universe of discourse, n max This represents the maximum value of the deviation or deviation rate. n min This represents the minimum value of the deviation or deviation rate. Correction amount Scale factor, l max For correction amount The maximum adjustment range, l min For correction amount The minimum adjustment range, u p , u i , u d These are the fuzzy universe values ​​of the proportional coefficient, integral coefficient, and differential coefficient, respectively. For the fuzzy universe of discourse value, the universe point membership degree i Number the points in the universe of discourse; S5: Based on the correction amount Calculate the proportional coefficient, integral coefficient, and derivative coefficient of the adaptive fuzzy PID controller after correction. ;

[0041]

[0042]

[0043] wherein, respectively current moment t The proportional coefficient, integral coefficient and differential coefficient of the adaptive fuzzy PID controller are adjusted. S6: using the corrected proportional coefficient, integral coefficient and differential coefficient The output value of the adaptive fuzzy PID controller is calculated u , the output value u adjust the telescopic amount of the second electric telescopic rod 21; the output value u as the current required telescopic amount of the second electric telescopic rod 21, according to the output value u adjust the real-time telescopic amount of the second electric telescopic rod 21.

[0044] .

[0045] The application realizes the replacement of the clamping function module by providing a replacement interface on the motion module 10. In order to shorten the time of aligning parts and clamps, the application selects a T-shaped sliding module which is matched with a T-shaped groove base to enable the whole clamp to quickly move to a specified position. In order to avoid the concentration of clamping force, the application uses a telescopic suction cup assembly 13 as a clamping mechanism, which can not only make the clamping force evenly distributed, but also adapt to complex part curved surfaces. In order to increase its adaptive ability, the application uses an adaptive fuzzy PID controller to real-time self-regulate the clamping force, taking deviation and deviation rate as input, which can more comprehensively capture the dynamic characteristics of the system, so as to timely adjust the system.

Claims

1. A modular fixture for aircraft assembly, characterized in that, The device includes a T-shaped sliding module, with a support module at its upper end. The support module has an arc-shaped sliding track at its upper end, and at least two motion modules are mounted on the sliding track. An arc-shaped rack is arranged along the length of the inner side of the sliding track. Each motion module has a cylindrical gear meshing with the rack. The cylindrical gear is driven by a servo motor to roll on the rack, thereby causing the motion module to slide on the sliding track. A telescopic suction cup assembly is located at the upper end of each motion module, and the telescopic suction cup assembly connects to components via suction cups at its ends.

2. The modular aircraft assembly fixture according to claim 1, characterized in that, The motion module includes a movable block and a clamping block. The movable block has a U-shaped groove that engages with a rack. A cylindrical gear is installed at the bottom of the U-shaped groove and is rotatably connected to a mounting slot at the bottom of the U-shaped groove via a gear shaft. The servo motor is located inside the movable block and is rotatably connected to the gear shaft. The rack on the sliding track has arc-shaped slots on both sides. The clamping block and the movable block are connected by at least two connecting rods. The clamping block is distributed on the outside of the sliding track, and the two connecting rods pass through the slots on both sides and are slidably set in the slots.

3. The modular aircraft assembly fixture according to claim 2, characterized in that, The two opposing surfaces of the movable block and the clamping block are arc-shaped surfaces that fit against the inner and outer surfaces of the sliding track. The connecting rod is a first electric telescopic rod provided on the arc-shaped surface of the clamping block. The end of the first electric telescopic rod is provided with a threaded hole. The arc-shaped surface of the movable block is provided with a stepped hole corresponding to the first electric telescopic rod. The bottom of the stepped hole is also provided with a threaded hole. The end of the first electric telescopic rod is connected to the stepped hole by a countersunk screw.

4. The modular aircraft assembly fixture according to claim 3, characterized in that, A rubber brake pad is provided on the arc-shaped surface of the movable block. The clamping block is made of rubber. The countersunk screw passes through the rubber brake pad. When the first electric telescopic rod retracts, it causes the inner side of the sliding track to squeeze the rubber brake pad, thereby braking the moving module.

5. The modular aircraft assembly fixture according to claim 4, characterized in that, The inner side of the sliding track is provided with a protruding ridge for mounting a rack. On both sides of the protruding ridge are arc-shaped limiting strips parallel to the rack. On both sides of the U-shaped groove are two opposing U-shaped grooves. The arc-shaped limiting strips on both sides are slidably disposed in the U-shaped grooves on both sides. A sliding gap is provided between the arc-shaped limiting strips and the inner side of the sliding track. A roller is provided in the U-shaped groove, which rolls with the surface of the arc-shaped limiting strip. The roller is rotatably disposed in the U-shaped groove.

6. The modular aircraft assembly fixture according to claim 1, characterized in that, The telescopic suction cup assembly includes a suction cup base, a connector at the lower end of the suction cup base, and a socket at the upper end of the movable block that mates with the connector. A metal spring is provided in the socket, and the connector is inserted into the socket and secured by the metal spring. Several second electric telescopic rods are provided at the upper end of the suction cup base, and an electric suction cup is provided at the end of each of the second electric telescopic rods.

7. The aircraft assembly modular fixture according to claim 6, characterized in that, A pressure sensor is installed at the upper end of the movable block, and a pressure sensor is squeezed at the bottom of the suction cup base to detect the real-time clamping force on the part.

8. The modular aircraft assembly fixture according to claim 1, characterized in that, The T-shaped sliding module includes a fixed block with a threaded post at its upper end. The support module includes a U-shaped support block. The sliding track is fixed to the upper end of the support block. A support column is provided at the lower end of the support block. A support plate is provided at the lower end of the support column. The lower end of the support plate is fixedly connected to the threaded post. A locking nut is provided on the threaded post.

9. The modular aircraft assembly fixture according to claim 8, characterized in that, The upper end of the support block has two opposing U-shaped notches on both sides. The two sides of the sliding track are set inside the U-shaped notches, and the U-shaped notches are connected to the sides of the sliding track by bolts.

10. A control method for dynamically regulating the extension and retraction of the second electric telescopic rod in the aircraft assembly modular fixture according to claim 6 or 7, characterized in that, Includes the following steps: S1: Construct an adaptive fuzzy PID controller for dynamically controlling the extension and retraction state of the second electric telescopic rod, and set the initial coefficients of the adaptive fuzzy PID controller. , These are the initial proportional coefficient, initial integral coefficient, and initial differential coefficient, respectively; S2: Calculate the desired clamping force of the part based on its parameters. ; in, F G The weight of the part. m For the quality of the parts, g It is the acceleration due to gravity. F in For vibrational inertial force, a This represents the maximum vibration acceleration generated during the assembly of the parts. F load v This is the resultant force perpendicular to the external load on the part. F op For assembly operation force, The angle between the vibration direction and the horizontal plane. The angle between the assembly operation force and the horizontal plane. F load h The resultant force on the horizontal plane of the external load on the part. F 摩擦力 Friction within the horizontal plane A For constant terms, F 水平夹紧 The clamping force required to prevent horizontal movement of the parts f The coefficient of friction, F For torque balancing forces, l i Forces that balance torque F The shortest distance to the plane of symmetry in the direction of the rack. l G This is the shortest distance from the center of gravity of the part to the plane of symmetry. l in Vibrational inertial force F in The shortest distance to the plane of symmetry. l op For assembly operation force F op The shortest distance to the plane of symmetry. K For safety reasons, For the efficiency of the second electric telescopic pole; S3: Calculate the real-time clamping force on the part based on the current output from the pressure sensor. ; ； in, I c This is the real-time output current of the pressure sensor. I max This is the maximum current that the pressure sensor can output. I min This is the minimum current that the pressure sensor can output. P max This represents the maximum pressure within the range of the pressure sensor. P min This is the minimum pressure within the range of the pressure sensor. S4: Utilizing real-time clamping force and expected clamping force Calculate the deviation of clamping force e Sum of deviations , t For the real-time clamping force acquisition time, the deviation will be... e Sum of deviations Convert to fuzzy value e 模糊 , ec 模糊 And calculate the correction amounts for the proportional coefficient, integral coefficient, and differential coefficient. ; in, k e and k ec These are the quantification factors for deviation and deviation rate, respectively. m max For the maximum value of the fuzzy universe of discourse, m min For the minimum value of the fuzzy universe of discourse, n max This represents the maximum value of the deviation or deviation rate. n min This represents the minimum value of the deviation or deviation rate. Correction amount Scale factor, l max For correction amount The maximum adjustment range, l min For correction amount The minimum adjustment range, u p , u i , u d These are the fuzzy universe values ​​of the proportional coefficient, integral coefficient, and differential coefficient, respectively. For the fuzzy universe of discourse value, the universe point membership degree i Number the points in the universe of discourse; S5: Based on the correction amount Calculate the proportional coefficient, integral coefficient, and derivative coefficient of the adaptive fuzzy PID controller after correction. ; in, At the current time t The proportional coefficient, integral coefficient, and derivative coefficient of an adaptive fuzzy PID controller; S6: Using the corrected proportional coefficient, integral coefficient, and differential coefficient Calculate the output value of the adaptive fuzzy PID controller u Through output value u Adjust the extension / retraction amount of the second electric telescopic rod; 。

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