An aircraft windshield mounting device and method of mounting

Abstract

The application discloses an aircraft windshield mounting device and a mounting method, which comprises a mounting platform, an assembly frame is arranged on the mounting platform, a positioning and locking mechanism for extending into the assembly frame is arranged on the mounting platform in a sliding mode, the positioning and locking mechanism is used for loading an aircraft nose, a feeding mechanism is further arranged on the assembly frame, the feeding mechanism is used for conveying an aircraft windshield to an assembly station of the aircraft nose, at least two mechanical arms with multiple degrees of freedom are arranged on the assembly frame at different height positions, and the mechanical arms at different heights are respectively located on the front and rear sides of the aircraft nose, the mechanical arms are used for completing the assembly of the aircraft windshield and the aircraft nose, an image recognition device is further arranged on the assembly frame, the image recognition device is used for collecting image information of the assembly process of the aircraft windshield and the aircraft nose, and the image recognition device and the mechanical arms are electrically connected with an industrial computer.

Description

Technical Field

[0001] This application relates to the field of aircraft manufacturing technology, and in particular to an aircraft windshield mounting device and mounting method. Background Technology

[0002] With the serialization and large-scale production of domestically manufactured aircraft, the number of domestic civil aircraft manufacturing projects is increasing, and windshields are indispensable for any aircraft model. Aircraft windshields are the "invisible guardians" of aviation safety, a core component of aircraft design and safety systems, and their importance is reflected in several key areas. Ensuring flight safety: Windshields provide pilots with a clear forward view, enabling them to accurately judge flight attitude, runway position, and the surrounding environment during takeoff, cruise, and landing, avoiding obstacles and other aircraft, thus being a crucial guarantee for flight safety. In addition, windshields possess high strength and good impact resistance, able to withstand high-speed airflow, bird strikes, and other external forces during flight, protecting the safety of personnel and equipment in the cockpit. Maintaining the cockpit environment: During flight, the windshield, together with other parts of the fuselage, maintains the sealed environment of the cockpit, preventing cabin pressure leakage and ensuring that pilots work under comfortable air pressure and temperature conditions, avoiding the impact of air pressure changes and low temperatures on flight operations. Ensuring aircraft performance: The windshield design conforms to aerodynamic principles, reducing air resistance during flight, lowering fuel consumption, improving fuel efficiency and range, and also contributing to enhancing the overall flight performance and handling of the aircraft.

[0003] Therefore, the installation of aircraft windshields is particularly important in the entire aircraft manufacturing process, and the aerodynamic shape parameters of the installed windshields require extremely high precision. Existing windshield installation methods rely heavily on manpower, which can easily lead to personnel safety risks due to human factors, as well as low installation quality, and the installation efficiency is also relatively low. Summary of the Invention

[0004] The main purpose of this application is to provide an aircraft windshield installation device and installation method, which aims to solve the technical problem that existing windshield installation methods rely on a large amount of manpower and have low installation quality.

[0005] To achieve the above objectives, this application provides an aircraft windshield installation device, including an installation platform, an assembly frame on the installation platform, a positioning and locking mechanism slidably mounted on the installation platform for extending into the assembly frame, the positioning and locking mechanism for loading the aircraft nose, a feeding mechanism on the assembly frame for conveying the aircraft windshield to the assembly station with the aircraft nose, at least two multi-degree-of-freedom robotic arms at different heights on the assembly frame, the robotic arms at different heights being located at the front and rear sides of the aircraft nose respectively, the robotic arms for completing the assembly work of the aircraft windshield and the aircraft nose, an image recognition device on the assembly frame for collecting image information of the aircraft windshield and aircraft nose assembly process, and both the image recognition device and the robotic arms being electrically connected to an industrial control computer.

[0006] Optionally, the positioning and locking mechanism includes a movable platform that is slidably mounted on the installation platform. The movable platform is used to carry the trailer, and the trailer is used to fix the nose of the aircraft. The top of the movable platform has multiple positioning screw holes, and the movable platform is detachably connected to locking blocks through positioning screw holes at different positions. The locking blocks are used to fix the trailer.

[0007] Optionally, the installation platform is provided with a conveyor rail, one end of which extends into the assembly frame, and the bottom of the movable platform is provided with movable wheels that cooperate with the conveyor rail.

[0008] Optionally, the feeding mechanism includes a lifting mechanism and a pushing mechanism. The lifting mechanism is used to lift the support platform with the aircraft windshield installed from a low position to a high position, and the pushing mechanism is used to push the support platform lifted to the high position to the assembly station.

[0009] Optionally, the propulsion mechanism includes a push hydraulic cylinder, the telescopic end of which is connected to a hanging plate for attaching a support platform.

[0010] Optionally, a temperature and humidity control unit is installed on the assembly frame near the assembly station.

[0011] Optionally, the assembly frame is provided with multiple material bins for storing corresponding assembly parts and tools, and a collection bin is provided on the installation platform for collecting leftover materials generated during the assembly process.

[0012] To achieve the above objectives, this application also provides an aircraft windshield installation method, based on the above-described aircraft windshield installation device, comprising the following steps: The trailer with the aircraft nose fixed to it is pre-installed on the mobile platform, and the aircraft nose is moved to the assembly station in the assembly frame by the mobile platform. The image of the window frame position on the nose of the aircraft is captured by an image recognition device; Adjust the installation position of the trailer on the mobile platform based on the window frame pose image; The adjusted trailer is secured to the mobile platform using multiple locking blocks; The perforated aircraft windshield is transported to the assembly station via a feeding mechanism. The robotic arm grabs the lifting bolts to lift the window frame of the aircraft windshield near the nose of the aircraft, and the image recognition device helps to determine the position of the aircraft windshield. After the position is determined, the robotic arm grabs the fastening screws and pre-installs them on the window frame at the midpoint positions of the four sides of the aircraft windshield. After pre-installation, remove the lifting bolts, install a constant-force screwdriver using the robotic arm, and install the fastening screws around the aircraft windshield in a preset tightening sequence to complete the assembly.

[0013] Optionally, the installation position of the trailer on the mobile platform is adjusted based on the window frame pose image, including: Identify the window frame contour features based on the window frame pose image; wherein, the window frame pose image is a depth image; Identify two target points in the window frame outline features; where the two target points are the two corner points of the window frame that are symmetrical about the theoretical symmetry line and are respectively farthest from the theoretical symmetry line. Obtain the depth values ​​corresponding to the two target points respectively; Determine whether the difference h between the two depth values ​​is greater than the preset deviation threshold. If so, obtain the angle adjustment amount θ based on the difference h to adjust the horizontal deflection angle of the trailer, and return to the window frame pose image of the aircraft nose acquired by the image recognition device. If not, proceed to the next step. Wherein, θ = k * h, and k is an empirical coefficient.

[0014] Optionally, the preset tightening sequence is as follows: install and tighten the fastening screws in the cyclical order of the first side, second side, third side and fourth side of the aircraft windshield, starting from the midpoint of the four sides of the aircraft windshield and tightening the fastening screws in a clockwise or counterclockwise direction; wherein, the first side and the second side are one set of opposite sides, and the third side and the fourth side are another set of opposite sides.

[0015] The beneficial effects that this application can achieve are as follows: This application utilizes a positioning and locking mechanism to move the aircraft nose to the assembly station within the assembly frame. Then, combined with an image recognition device, the aircraft nose's position and orientation are identified, adjusted, and finally fixed in place by the positioning and locking mechanism to ensure the accuracy of subsequent assembly. Compared to manual identification and adjustment, this improves both accuracy and efficiency. During assembly, automated assembly is performed using robotic arms located at different heights on the front and rear sides of the aircraft nose. This wide-ranging assembly capability allows for the assembly of windshields of various sizes, reducing assembly difficulty. Furthermore, the image recognition device can monitor assembly accuracy in real time, controlling the robotic arms at corresponding positions for real-time correction. This enables online real-time matching of assembly error detection and process correction, improving both assembly accuracy and efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of the structure of an aircraft windshield mounting device according to an embodiment of this application; Figure 2 This is a schematic diagram of another view of an aircraft windshield mounting device according to an embodiment of this application; Figure 3 This is a schematic diagram of the window frame pose image identified in an embodiment of this application; Figure 4 This is a schematic diagram of the sequential tightening of fastening screws on an aircraft windshield in an embodiment of this application (the numbers in the diagram are the tightening sequence numbers).

[0018] Figure label: 110-Installation platform, 111-Conveying guide rail, 120-Assembly frame, 130-Positioning and locking mechanism, 131-Moving platform, 1311-Positioning screw hole, 132-Locking block, 140-Aircraft windshield, 150-Robotic arm, 160-Image recognition device, 170-Industrial control computer, 180-Moving wheels, 190-Lifting mechanism, 210-Propulsion mechanism, 211-Pushing hydraulic cylinder, 212-Hanging plate, 220-Support platform, 230-Constant temperature and humidity chamber, 240-Material box, 250-Collection box.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0022] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] Example 1 Reference Figures 1-4This embodiment provides an aircraft windshield installation device, including an installation platform 110, an assembly frame 120 on the installation platform 110, a positioning and locking mechanism 130 slidably disposed on the installation platform 110 for extending into the assembly frame 120, the positioning and locking mechanism 130 for loading the aircraft nose, a feeding mechanism on the assembly frame 120 for conveying the aircraft windshield 140 to the assembly station with the aircraft nose, at least two multi-degree-of-freedom robotic arms 150 are disposed at different heights on the assembly frame 120, and the robotic arms 150 at different heights are respectively located on the front and rear sides of the aircraft nose, the robotic arms 150 are used to complete the assembly work of the aircraft windshield 140 and the aircraft nose, the assembly frame 120 is also provided with an image recognition device 160 (which may be a CCD camera), the image recognition device 160 is used to collect image information of the assembly process of the aircraft windshield 140 and the aircraft nose, the image recognition device 160 and the robotic arms 150 are electrically connected to an industrial control computer 170.

[0025] In this embodiment, the aircraft nose can be moved to the assembly station within the assembly frame 120 via the positioning and locking mechanism 130. Then, the aircraft nose is identified by the image recognition device 160, and its position is adjusted. The positioning and locking mechanism 130 then fixes the aircraft nose in place to ensure the accuracy of the subsequent assembly position. Compared with manual identification and adjustment, this improves the accuracy and efficiency of the adjustment. During the assembly process, robotic arms 150 located at different heights on the front and rear sides of the aircraft nose are used for automatic assembly. The assembly range is wide and can handle the assembly of various sizes of aircraft windshields 140, reducing the assembly difficulty. Furthermore, the assembly accuracy can be monitored in real time by the image recognition device 160, which controls the robotic arms 150 at the corresponding positions to make real-time corrections. This achieves online real-time matching of assembly error detection and assembly process correction, improving both assembly accuracy and assembly efficiency.

[0026] As an optional implementation, the positioning and locking mechanism 130 includes a movable platform 131 slidably disposed on the mounting platform 110. The movable platform 131 is used to carry a trailer (not shown in the figure), and the trailer is used to fix the nose of the aircraft. The top of the movable platform 131 has multiple positioning screw holes 1311. The movable platform 131 is detachably connected to locking blocks 132 (screws that mate with the positioning screw holes 1311 are threaded onto the locking blocks 132) through the positioning screw holes 1311 at different positions. The locking blocks 132 are used to fix the trailer.

[0027] In this embodiment, the trailer for transporting the aircraft nose can be directly placed on the mobile platform 131. This eliminates the need to remove the aircraft nose from the trailer and then install it on the mobile platform 131, improving work efficiency. Furthermore, the position of the aircraft nose can be adjusted synchronously by adjusting the position of the trailer. The locking block 132 is connected to the corresponding positioning screw hole 1311, so that the locking block 132 abuts against the outer wall of the trailer, thereby fixing the trailer after the position adjustment to the mobile platform 131. Moreover, the locking block 132 does not need to contact the aircraft nose, avoiding the risk of abrasion on the outer surface of the aircraft nose.

[0028] As an optional implementation, the mounting platform 110 is provided with a conveyor rail 111, one end of which extends into the assembly frame 120, and the bottom of the movable platform 131 is provided with movable wheels 180 that cooperate with the conveyor rail 111.

[0029] In this embodiment, the conveying guide rail 111 can be a rack and pinion, and the moving wheel 180 is a drive gear that cooperates with the conveying guide rail 111. The drive gear is connected to a drive motor fixed on the moving platform 131, so that the moving platform 131 can be moved automatically and smoothly to move the aircraft nose from the outside of the assembly frame 120 to its inside.

[0030] As an optional implementation, the feeding mechanism includes a lifting mechanism 190 and a pushing mechanism 210. The lifting mechanism 190 is used to lift the support platform 220 on which the aircraft windshield 140 is installed from a low position to a high position, and the pushing mechanism 210 is used to push the support platform 220 lifted to the high position to the assembly station.

[0031] In this embodiment, the aircraft windshield 140 is pre-installed on the support platform 220. At this time, the support platform 220 and the aircraft windshield 140 can be lifted from a low position to a high position by the lifting mechanism 190. Then, the support platform 220 and the aircraft windshield 140 are pushed to the assembly station by the pushing mechanism 210. At this time, the aircraft windshield 140 can be easily lifted out of the support platform 220 by the robotic arm 150 and brought close to the window frame of the aircraft nose. The remaining robotic arm 150 can grab the bolts and fix the aircraft windshield 140 to the window frame. The whole process is automated, reducing human intervention, improving installation accuracy, and has a high degree of automation and high work efficiency.

[0032] It should be noted that the lifting mechanism 190 has a lifting platform for placing the support platform 220. The lifting platform can be raised and lowered by a motor + screw transmission mechanism (not shown in the figure), or by a motor + transmission chain, or any other mechanism that can achieve automatic lifting. There should be no restriction here.

[0033] As an optional implementation, the propulsion mechanism 210 includes a push hydraulic cylinder 211, the telescopic end of which is connected to a hanging plate 212, which is used to hang the support platform 220.

[0034] In this embodiment, after the support platform 220 rises to the corresponding height, the robotic arm 150 can grab the support platform 220 and hang it on the mounting plate 212. Here, hooks that cooperate with each other can be set between the mounting plate 212 and the support platform 220, so that they can be quickly hung. Then, the hydraulic cylinder 211 pushes the mounting plate 212, the support platform 220 and the aircraft windshield 140 to be moved as a whole to the assembly station.

[0035] It should be noted that, through the cooperation of the lifting mechanism 190 and the propulsion mechanism 210, the aircraft windshield 140 can be transported from a low position to a high position in sequence, and then moved horizontally. Compared with the existing hoisting method of hoisting the aircraft windshield 140 to the window frame for installation, it is safer and reduces the risk of interference and collision with other mechanisms during the hoisting of the aircraft windshield 140, thereby improving the product installation quality.

[0036] As an optional implementation, a constant temperature and humidity machine 230 is installed on the assembly frame 120 near the assembly station. The constant temperature and humidity machine 230 can automatically adjust and change the temperature and humidity of the environment to ensure that the environment is constant temperature and humidity throughout the entire installation process of the aircraft windshield 140, so as to better meet the ideal conditions of the entire installation process of the aircraft windshield 140 and not be affected by the external environment, thereby improving the installation quality.

[0037] As an optional implementation, the assembly frame 120 is provided with multiple material boxes 240, which are used to hold corresponding assembly parts and tools. The material boxes 240 can be classified and placed according to the corresponding assembly parts and tools so that the robotic arm 15 can accurately grasp them. The installation platform 110 is provided with a collection box 250, which is used to collect the leftover materials generated during the assembly process, thereby improving the environmental friendliness of the assembly process.

[0038] Example 2 To achieve the above objectives, refer to Figures 1-4 This embodiment also provides an aircraft windshield installation method, and an aircraft windshield installation device based on the above embodiment, including the following steps: The trailer with the aircraft nose fixed is pre-installed on the mobile platform 131, and the aircraft nose is moved to the assembly station in the assembly frame 120 by the mobile platform 131. The image recognition device 160 acquires the pose image of the window frame on the nose of the aircraft; Adjust the installation position of the trailer on the mobile platform 131 according to the window frame pose image; The adjusted trailer is secured to the mobile platform 131 by multiple locking blocks 132; The perforated aircraft windshield 140 is transported to the assembly station via a feeding mechanism. The robotic arm 150 grabs the lifting bolts to lift the window frame of the aircraft windshield 140 near the nose of the aircraft, and the image recognition device 160 assists in determining the position of the aircraft windshield 140. After determining the position, the robotic arm grabs the fastening screws and pre-installs them on the window frame at the midpoint positions of the four sides of the aircraft windshield 140. After pre-installation, remove the lifting bolts, install the constant force screwdriver through the robotic arm, and install the fastening screws in a preset tightening sequence around the aircraft windshield at 140 degrees (the constant force time between each fastening screw is uniform to better ensure the perpendicularity of the screwdriver head to the fastening screw) to complete the assembly.

[0039] In this embodiment, the trailer with the aircraft nose fixed to it is pre-installed on the mobile platform 131, and the aircraft nose is moved to the assembly station in the assembly frame 120 by the mobile platform 131. On the one hand, this eliminates the step of unloading the aircraft nose from the trailer and then installing it on the mobile platform 131, improving work efficiency. On the other hand, the position of the aircraft nose can be adjusted synchronously by adjusting the position of the trailer. The locking block 132 is connected to the positioning screw hole 1311 at the corresponding position so that the locking block 132 abuts against the outer wall of the trailer, thereby fixing the trailer after the position adjustment to the mobile platform 131. Moreover, the locking block 132 does not need to contact the aircraft nose, avoiding the risk of abrasion on the outer surface of the aircraft nose. When adjusting the aircraft nose position, the image recognition device 160 can be used to identify the window frame position image of the aircraft nose. The recognition accuracy is high, which is conducive to rapid adjustment. During the adjustment, the drilled aircraft windshield 140 can be transported to the assembly station through the feeding mechanism, saving the work cycle and improving efficiency. At this time, the robotic arm 150 can grab the lifting bolts to lift the aircraft windshield 140 close to the window frame of the aircraft nose. The image recognition device 160 helps to determine the position of the aircraft windshield 140. After the position is determined, the robotic arm grabs the fastening screws and pre-installs them on the window frame at the midpoints of the four sides of the aircraft windshield 140. After the pre-installation is completed, the lifting bolts are removed, and the robotic arm is equipped with a fixed-force screwdriver. The fastening screws are installed around the aircraft windshield 140 according to the preset tightening sequence, and the assembly is finally completed. The assembly accuracy can be monitored in real time by the image recognition device 160 to control the robotic arm 150 at the corresponding position for real-time correction. This realizes online real-time matching of assembly error detection and assembly process correction, which improves assembly accuracy and assembly efficiency.

[0040] As an optional implementation, adjusting the installation position of the trailer on the mobile platform 131 based on the window frame pose image includes: Identify the window frame contour features based on the window frame pose image; wherein, the window frame pose image is a depth image; Identify two target points in the window frame outline features; where the two target points are the two corner points of the window frame that are symmetrical about the theoretical symmetry line and are respectively farthest from the theoretical symmetry line. Obtain the depth values ​​corresponding to the two target points respectively; Determine whether the difference h between the two depth values ​​is greater than the preset deviation threshold. If so, obtain the angle adjustment amount θ based on the difference h to adjust the horizontal deflection angle of the trailer, and return to the image of the window frame pose of the aircraft nose captured by the image recognition device 160. If not, proceed to the next step. Wherein, θ = k * h, and k is an empirical coefficient.

[0041] In this embodiment, a window frame pose image with depth information can be acquired based on a depth camera, and the window frame contour features can be extracted. If the current pose of the aircraft nose is offset from the theoretical pose in the horizontal direction, the depth values ​​corresponding to the theoretical symmetrical points of the two window frame contours will be different. To improve detection accuracy, the two corner points of the two window frames that are symmetrical about the theoretical symmetry line are marked as the target points (i.e., Figure 3 When pose deviation occurs at points a and b, the deviation of the two target points is most significant. Therefore, the depth values ​​corresponding to the two target points are calculated respectively (i.e., the distances of points a and b from the image recognition device 160, which should be located at the middle position corresponding to the theoretical symmetry line). Considering the allowable error, a deviation threshold is set here. By judging whether the difference h between the two depth values ​​is greater than the preset deviation threshold, if so, it means that the current pose of the aircraft nose is unqualified and needs to be adjusted. The theoretical angle adjustment amount θ can be calculated based on the difference h, thereby guiding the precise and rapid adjustment of the aircraft nose pose and avoiding multiple adjustments that affect efficiency. Here, θ = k * h, where the empirical coefficient k can be measured through historical test data. After adjustment, image recognition detection is performed again to ensure adjustment accuracy.

[0042] As an optional implementation, the preset tightening sequence is as follows: install and tighten the fastening screws in the cyclical order of the first side, second side, third side and fourth side of the aircraft windshield 140, and tighten the fastening screws in a clockwise or counterclockwise direction starting from the midpoint of the four sides of the aircraft windshield 140; wherein the first side and the second side are a pair of opposite sides, and the third side and the fourth side are another pair of opposite sides.

[0043] In this embodiment, when installing the aircraft windshield 140 onto the aircraft nose window frame using multiple fastening screws, the fastening screws are tightened sequentially according to the cyclical order of the first side, second side, third side, and fourth side, as described above. Figure 4As shown, numbers 1, 2, 3, and 4 correspond to the middle positions of the sides and also represent the pre-installation sequence. After tightening the fastening screws at positions 1, 2, 3, and 4 corresponding to the first, second, third, and fourth sides, continue tightening the fastening screws at positions 5, 6, 7, and 8 in sequence for the first, second, third, and fourth sides, and so on. Simultaneously, starting from the midpoint of the four sides of the aircraft windshield 140, tighten the fastening screws in a clockwise or counterclockwise direction. After installing half of each side, the screw holes for the other half can be installed. Based on this installation method, the connection stability between the aircraft windshield 140 and the window frame can be effectively improved during the installation process, making it less prone to loosening, thereby further improving the installation quality.

[0044] It should be noted that if one side is relatively long, two fastening screws can be installed and tightened on that side at a certain node before fastening screws are installed on the other side, such as the two sets of numbers 46 and 47, and 50 and 51.

[0045] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An aircraft windshield mounting device, characterized in that, The system includes an installation platform with an assembly frame. A positioning and locking mechanism that slides onto the installation platform and extends into the assembly frame is used to load the aircraft nose. A feeding mechanism is also provided on the assembly frame to transport the aircraft windshield to the assembly station with the aircraft nose. At least two multi-degree-of-freedom robotic arms are installed at different heights on the assembly frame, with the robotic arms located at the front and rear sides of the aircraft nose. The robotic arms are used to complete the assembly of the aircraft windshield and the aircraft nose. An image recognition device is also provided on the assembly frame to collect image information of the assembly process of the aircraft windshield and the aircraft nose. Both the image recognition device and the robotic arms are electrically connected to an industrial control computer.

2. The aircraft windshield mounting device as described in claim 1, characterized in that, The positioning and locking mechanism includes a movable platform that is slidably mounted on the installation platform. The movable platform is used to support the trailer, and the trailer is used to fix the nose of the aircraft. The top of the movable platform has multiple positioning screw holes, and the movable platform is detachably connected to locking blocks through the positioning screw holes at different positions. The locking blocks are used to fix the trailer.

3. The aircraft windshield mounting device as described in claim 2, characterized in that, The installation platform is equipped with a conveyor rail, one end of which extends into the assembly frame. The bottom of the mobile platform is equipped with casters that cooperate with the conveyor rail.

4. An aircraft windshield mounting device as described in any one of claims 1-3, characterized in that, The feeding mechanism includes a lifting mechanism and a propulsion mechanism. The lifting mechanism is used to lift the support platform with the aircraft windshield installed from a low position to a high position, and the propulsion mechanism is used to push the support platform lifted to the high position to the assembly station.

5. The aircraft windshield mounting device as described in claim 4, characterized in that, The propulsion mechanism includes a push hydraulic cylinder, and the telescopic end of the push hydraulic cylinder is connected to a hanging plate, which is used to attach the support platform.

6. The aircraft windshield mounting device as described in claim 1, characterized in that, A constant temperature and humidity chamber is installed on the assembly frame near the assembly station.

7. The aircraft windshield mounting device as described in claim 1, characterized in that, The assembly frame is equipped with multiple material bins for storing corresponding assembly parts and tools. A collection bin is provided on the installation platform for collecting leftover materials generated during the assembly process.

8. A method for installing an aircraft windshield, characterized in that, The aircraft windshield mounting device according to claim 2 includes the following steps: The trailer with the aircraft nose fixed to it is pre-installed on the mobile platform, and the aircraft nose is moved to the assembly station in the assembly frame by the mobile platform. The image of the window frame position on the nose of the aircraft is captured by an image recognition device; Adjust the installation position of the trailer on the mobile platform based on the window frame pose image; The adjusted trailer is secured to the mobile platform using multiple locking blocks; The perforated aircraft windshield is transported to the assembly station via a feeding mechanism. The robotic arm grabs the lifting bolts to lift the window frame of the aircraft windshield near the nose of the aircraft, and the image recognition device helps to determine the position of the aircraft windshield. After the position is determined, the robotic arm grabs the fastening screws and pre-installs them on the window frame at the midpoint positions of the four sides of the aircraft windshield. After pre-installation, remove the lifting bolts, install a constant-force screwdriver using the robotic arm, and install the fastening screws around the aircraft windshield in a preset tightening sequence to complete the assembly.

9. The aircraft windshield installation method as described in claim 8, characterized in that, Based on the window frame pose image, adjust the installation position of the trailer on the moving platform, including: Identify the window frame contour features based on the window frame pose image; wherein, the window frame pose image is a depth image; Identify two target points in the window frame outline features; where the two target points are the two corner points of the window frame that are symmetrical about the theoretical symmetry line and are respectively farthest from the theoretical symmetry line. Obtain the depth values ​​corresponding to the two target points respectively; Determine whether the difference h between the two depth values ​​is greater than the preset deviation threshold. If so, obtain the angle adjustment amount θ based on the difference h to adjust the horizontal deflection angle of the trailer, and return to the window frame pose image of the aircraft nose acquired by the image recognition device. If not, proceed to the next step. Wherein, θ = k * h, and k is an empirical coefficient.

10. The aircraft windshield installation method as described in claim 8, characterized in that, The preset tightening sequence is as follows: install and tighten the fastening screws in the cyclical order of the first side, second side, third side and fourth side of the aircraft windshield, starting from the midpoint of the four sides of the aircraft windshield and tightening the fastening screws in a clockwise or counterclockwise direction; wherein, the first side and the second side are one set of opposite sides, and the third side and the fourth side are another set of opposite sides.

Images