Aircraft panel part assembling system and method

Abstract

The invention discloses an aircraft panel part assembly system and method, and relates to the technical field of aircraft part assembly. The aircraft panel part assembling system comprises a first guide rail assembly and a second guide rail assembly. The wall plate assembling tool is arranged between the first guide rail assembly and the second guide rail assembly; a first feature point is arranged on the wallboard assembly tool; the positioning robot is mounted on the first guide rail assembly; the positioning robot can be detachably connected with the clamping execution device and can be coupled with the clamping execution device; a second feature point is arranged on the clamping execution device; the gluing robot and the pre-connection robot are both mounted on the second guide rail assembly; the laser tracker is arranged on one side of the first guide rail assembly; and the controller assembly is simultaneously coupled with the positioning robot, the gluing robot, the pre-connection robot and the laser tracker. The aircraft panel part assembling system is used for improving the assembling efficiency and the assembling precision of aircraft panel parts, and meanwhile, the safety in the assembling process is improved.

Description

Technical Field

[0001] This invention relates to the field of aircraft component assembly technology, and in particular to an aircraft panel component assembly system and assembly method. Background Technology

[0002] The overall production process of civil passenger aircraft typically includes major stages such as parts manufacturing, component assembly, fuselage docking, system installation, interior integration, final assembly and commissioning, and flight testing and delivery. Among these, component assembly is a crucial stage that connects the preceding and following stages, and the assembly of aircraft panel components is a core assembly stage with many processes, high precision requirements, and complex workflows. In the production process of civil passenger aircraft, the pre-assembly of panel components usually involves multiple processes such as gluing, positioning, and pre-connection, which directly affect the final shape accuracy, connection strength, aerodynamic shape, and service life of the panel.

[0003] Currently, domestic aviation companies primarily employ manual labor in conjunction with numerous specialized tooling fixtures during the pre-assembly stage of panel components. Processes such as gluing, positioning, clamping, and pre-connection heavily rely on manual experience, resulting in low overall efficiency and failing to meet the efficiency requirements of mass production. Furthermore, the inconsistency of manual operations makes it difficult to consistently guarantee glue thickness, glue layer uniformity, and component positioning accuracy, easily leading to problems such as positioning deviations, uneven bonding gaps, and glue layer defects, severely impacting panel assembly quality and structural reliability. In addition, the frequent lifting and relocation of tooling during manual assembly not only increases production preparation time and manufacturing costs but also poses significant safety hazards.

[0004] Therefore, there is an urgent need for an aircraft panel component assembly system and assembly method to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide an assembly system and method for aircraft panel components, which improves the assembly efficiency and accuracy of aircraft panel components, while also enhancing safety during the assembly process.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] On one hand, the present invention provides an aircraft panel component assembly system, comprising: a first guide rail assembly and a second guide rail assembly extending along a first direction; the first guide rail assembly and the second guide rail assembly being spaced apart along a second direction; the first direction being horizontal, and the second direction being at an angle to the first direction; a panel assembly fixture disposed between the first guide rail assembly and the second guide rail assembly; the panel assembly fixture extending along the first direction for mounting the panel to be assembled; the panel assembly fixture having at least three non-collinear first feature points; a positioning robot mounted on the first guide rail assembly and capable of moving along the first direction; the positioning robot being detachably connected to and coupled to a clamping actuator; the clamping actuator having at least three non-collinear second feature points; an adhesive application robot; and a pre-connection... All robots are mounted on the second guide rail assembly and are capable of moving along the first direction. The gluing robot is used to apply glue to the connection parts of the components to be assembled. The pre-connection robot is used to pre-connect the components to be assembled and the wall panels to be assembled. A laser tracker is disposed on the side of the first guide rail assembly away from the second guide rail assembly and is used to collect the spatial position information of the first feature point and the spatial position information of the second feature point. A controller assembly is coupled to the positioning robot, the gluing robot, the pre-connection robot, and the laser tracker. The controller assembly is used to control the working state of the positioning robot, the gluing robot, and the pre-connection robot respectively, and to control the pose of the positioning robot during the assembly process based on the spatial position information of the first feature point and the spatial position information of the second feature point collected by the laser tracker.

[0008] In some embodiments, the aircraft panel component assembly system further includes: a plurality of storage racks, wherein the plurality of storage racks are disposed between the first guide rail assembly and the second guide rail assembly, and / or, the plurality of storage racks are disposed on the side of the first guide rail assembly opposite to the second guide rail assembly; the plurality of storage racks are used to store different types of components to be assembled, and clamping actuators corresponding to different types of components to be assembled; each of the plurality of clamping actuators is provided with at least three non-collinear second feature points; each of the plurality of clamping actuators can be detachably installed on the execution end of the positioning robot, and each can be coupled to the positioning robot.

[0009] In some embodiments, the wall panel assembly fixture includes: a support frame disposed between the first guide rail assembly and the second guide rail assembly; a plurality of shape plates spaced apart on the support frame along the first direction; the shape plates having an arc-shaped structure; the curvature of the shape plates being the same as the curvature of the wall panel to be assembled; the wall panel to be assembled being detachably mounted on the side of the shape plates facing away from the second guide rail assembly; and a vacuum suction cup disposed on the shape plates, capable of adsorbing the wall panel to be assembled.

[0010] In some embodiments, a plate drive motor is installed at each end of the outer plate; the two ends of the outer plate are respectively connected to the support frame through the plate drive motor; the plate drive motor can drive the outer plate to move along the first direction on the support frame.

[0011] In some embodiments, the clamping actuator includes: a mounting plate for providing a mounting position; a quick-change chuck disposed on one side of the mounting plate; the clamping actuator can be detachably mounted to the execution end of the positioning robot via the quick-change chuck; a clamping assembly and a clamping assembly disposed on the side of the mounting plate opposite to the quick-change chuck; the clamping assembly for clamping the component to be assembled; and the clamping assembly for pushing the component to be assembled away from the mounting plate so that the component to be assembled abuts against the wall panel to be assembled.

[0012] In some embodiments, the number of positioning robots is two; the two positioning robots are spaced apart on the first guide rail assembly along the first direction; both positioning robots are coupled to the controller assembly; the controller assembly can synchronously control the working state and posture of the two positioning robots.

[0013] On the other hand, the present invention provides an aircraft panel component assembly method, which is applied to an aircraft panel component assembly system as described in any of the above descriptions; the aircraft panel component assembly method includes: step S100, installing the panel to be assembled onto the panel assembly fixture; step S200, the positioning robot moves the corresponding component to be assembled to the gluing station through the clamping actuator, and the gluing robot applies glue to the component to be assembled; step S300, the laser tracker collects the spatial position information of multiple first feature points; the controller assembly establishes a mounting system. In step S400, the laser tracker acquires the spatial position information of multiple second feature points; the controller component establishes a tool coordinate system; in step S500, the controller component calculates the pose deviation based on the assembly coordinate system and the tool coordinate system, and determines whether the pose deviation is greater than 0.1mm; if the pose deviation is greater than 0.1mm, the controller component adjusts the pose of the positioning robot based on the pose deviation, and then returns to step S400; in step S600, the pre-connected robot performs pre-connection processing on the component to be assembled and the wall panel to be assembled.

[0014] In some embodiments, step S300 includes: step S310, importing the digital model of the wall panel assembly fixture into three-dimensional software to obtain a theoretical point set; step S320, the laser tracker collecting spatial position information of multiple first feature points to obtain a measured point set; step S330, establishing an assembly coordinate system based on the measured point set and the theoretical point set.

[0015] In some embodiments, step S330 includes: step S331, performing matching calculations on the measured point set and the theoretical point set using a best-fit algorithm; step S332, solving for the spatial coordinate transformation matrix; the spatial coordinate transformation matrix includes a translation vector and a rotation matrix; step S333, using the spatial coordinate transformation matrix, registering and fitting the measurement coordinate system of the laser tracker with the theoretical design coordinate system of the three-dimensional software, thereby establishing the assembly coordinate system.

[0016] In some embodiments, the aircraft panel component assembly system further includes: a plurality of storage racks; the plurality of storage racks are used to store different types of components to be assembled, and clamping actuators corresponding to different types of components to be assembled; the aircraft panel component assembly method further includes: step S700, whereby the clamping actuator releases the clamp on the component to be assembled, selects the same type of component to be assembled, and repeats steps S200 to S600; or, the clamping actuator releases the clamp on the component to be assembled, replaces the clamping actuator with a different type, selects the corresponding type of component to be assembled, and repeats steps S200 to S600.

[0017] The beneficial effects of this invention are:

[0018] On one hand, this invention provides an aircraft panel component assembly system. It comprises a first guide rail assembly and a second guide rail assembly, with a panel assembly fixture fixedly mounted between the two assemblies. A positioning robot, detachably connected and coupled to a clamping actuator, is mounted on the first guide rail assembly. An adhesive application robot and a pre-connection robot are mounted on the second guide rail assembly. A laser tracker capable of acquiring spatial position information of a first feature point on the panel assembly fixture and a second feature point on the clamping actuator is also included. A controller assembly is coupled to the positioning robot, the adhesive application robot, the pre-connection robot, and the laser tracker. This allows for the assembly of aircraft panel components. The panel assembly fixture securely mounts the panel, the positioning robot facilitates the transfer and precise alignment of the components, the adhesive application robot automatically applies adhesive, and the pre-connection robot automatically pre-connects the components to the panel, eliminating the need for manual assembly and improving both assembly efficiency and safety. Meanwhile, the use of laser trackers and controller components to achieve closed-loop control of the robot's pose improves the positioning accuracy between the parts to be assembled and the panels to be assembled, ensuring assembly consistency and quality.

[0019] On the other hand, this invention provides a method for assembling aircraft panel components. This method includes all the technical features of the aircraft panel component assembly system described in any of the above embodiments, and has the same beneficial effects as the aforementioned aircraft panel component assembly system, which will not be repeated here. Furthermore, this method standardizes and streamlines the assembly process of panel components, ensuring the standardization and continuity of assembly operations, effectively avoiding problems such as process confusion and omissions that easily occur in manual operations, and further improving assembly efficiency. Simultaneously, the method's design of steps involving real-time acquisition of feature point information by a laser tracker, calculation of pose deviation by the controller component, and closed-loop adjustment of the positioning robot's pose achieves dynamic calibration of the positioning of the components to be assembled. This not only improves the positioning accuracy between the components to be assembled and the panel to be assembled, but also ensures the consistency of assembly of multiple batches and types of components, guaranteeing the stability of assembly quality from a process perspective and meeting the high-precision, large-scale assembly requirements of modern civil aircraft. Attached Figure Description

[0020] Figure 1 This is a structural diagram of an aircraft panel component assembly system provided in a specific embodiment of the present invention;

[0021] Figure 2 This is a structural diagram of a storage rack and clamping device provided in a specific embodiment of the present invention;

[0022] Figure 3 This is a structural diagram of another storage rack and clamping device provided in a specific embodiment of the present invention;

[0023] Figure 4 This is a structural diagram of a wall panel to be assembled being installed on a wall panel assembly fixture according to a specific embodiment of the present invention;

[0024] Figure 5 This is a structural diagram of a clamping actuator provided in a specific embodiment of the present invention;

[0025] Figure 6 This is a flowchart of an assembly method for aircraft panel components provided in a specific embodiment of the present invention.

[0026] In the picture:

[0027] 1. First guide rail assembly; 2. Second guide rail assembly; 3. Panel assembly fixture; 31. Support frame; 32. Outer clamp; 33. Vacuum suction cup; 34. Clamp drive motor; 4. Positioning robot; 5. Clamping actuator; 51. Mounting plate; 52. Quick-change chuck; 53. Clamping assembly; 54. Tightening assembly; 6. Glue application robot; 7. Pre-connection robot; 8. Laser tracker; 9. Storage rack; 10. Panel to be assembled;

[0028] X1, first direction; X2, second direction. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0030] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0033] like Figure 1 As shown, this embodiment provides an aircraft panel component assembly system, which includes a first guide rail assembly 1, a second guide rail assembly 2, a panel assembly fixture 3, a positioning robot 4, an adhesive application robot 6, a pre-connection robot 7, a laser tracker 8, and a controller assembly.

[0034] Both the first guide rail assembly 1 and the second guide rail assembly 2 extend along a first direction X1, which is horizontal. The first guide rail assembly 1 and the second guide rail assembly 2 are spaced apart along a second direction X2, which forms an angle with the first direction X1, for example, 90°. The structure of the first guide rail assembly 1 includes, for example, a guide rail base, a guide rail body, a sliding platform, and a drive and transmission mechanism. The guide rail base is a long, narrow base structure laid on the ground along the first direction X1, serving as the mounting base for the entire guide rail. The guide rail body is fixed to the upper surface of the guide rail base and extends along the first direction X1, providing a precise guide rail. The sliding platform slides with the guide rail body and can reciprocate along the length of the guide rail body, supporting and mounting the robot base. The drive and transmission mechanism is integrated inside or on the side of the guide rail base, driving the sliding platform to move along the guide rail body. For a more specific structure of the first guide rail assembly 1, those skilled in the art can refer to relevant technologies; a detailed description is not provided here. The structure of the second guide rail assembly 2 is, for example, the same as that of the first guide rail assembly 1.

[0035] The aforementioned wall panel assembly fixture 3 is disposed between the first guide rail assembly 1 and the second guide rail assembly 2. The wall panel assembly fixture 3 extends along a first direction X1 and is used to install the wall panel 10 to be assembled. At least three non-collinear first feature points are provided on the wall panel assembly fixture 3.

[0036] The aforementioned positioning robot 4 is mounted on the first guide rail assembly 1 and is capable of moving along the first direction X1. The positioning robot 4 is detachably connected to and coupled to the gripping execution device 5, including both electrical and signal connections. At least three non-collinear second feature points are provided on the gripping execution device 5. The structure of the positioning robot 4 includes, for example, a base, a multi-degree-of-freedom robotic arm, an execution end, and a drive and control unit. The base is mounted on the first guide rail assembly 1 to provide stable support for the robot; the multi-degree-of-freedom robotic arm is composed of multiple joints and links connected in series, enabling multi-posture motion in space; the execution end is located at the end of the multi-degree-of-freedom robotic arm and is detachably connected to the gripping execution device 5; the drive and control unit is integrated into the robot body to drive the movement of each joint and to achieve electrical and signal connections with the gripping execution device 5 to control its actions. For a more specific structure of the positioning robot 4, those skilled in the art can refer to relevant technologies for design, which will not be described in detail here.

[0037] Both the glue-applying robot 6 and the pre-connecting robot 7 are mounted on the second guide rail assembly 2 and are capable of moving along the first direction X1. The glue-applying robot 6 is equipped with a glue-applying end and is used to apply glue to the connection points of the parts to be assembled. The pre-connecting robot 7 is equipped with a hole-making pre-connecting end and is used to pre-connect the parts to be assembled and the wall panel 10 to be assembled. The specific structures of the glue-applying robot 6 and the pre-connecting robot 7 can be described in detail here by those skilled in the art, referring to the aforementioned positioning robot 4 or related technologies.

[0038] The aforementioned laser tracker 8 is positioned on the side of the first guide rail assembly 1 opposite to the second guide rail assembly 2, and is used to collect the spatial position information of the first feature point and the spatial position information of the second feature point. Specifically, the laser tracker 8 emits an infrared laser beam to accurately illuminate and lock onto the target feature point (or a reflective target ball installed at the feature point), and uses a combination of laser interferometric ranging and angle encoder angle measurement to obtain the three-dimensional coordinates of the feature point in the measurement coordinate system.

[0039] The aforementioned controller assembly is coupled to the positioning robot 4, the gluing robot 6, the pre-connection robot 7, and the laser tracker 8. The controller assembly controls the working states of the positioning robot 4, the gluing robot 6, and the pre-connection robot 7 respectively, and controls the pose of the positioning robot 4 during assembly based on the spatial position information of the first and second feature points collected by the laser tracker 8. This controller assembly includes, for example, a processing unit, a storage unit, a communication unit, and a drive control unit. The processing unit is electrically connected to the storage unit, the communication unit, and the drive control unit. The storage unit stores the theoretical coordinate data, assembly process parameters, and coordinate matching algorithms of the panel assembly fixture 3; the communication unit interacts with the positioning robot 4, the gluing robot 6, the pre-connection robot 7, and the laser tracker 8, receiving the spatial position information of the first and second feature points; the processing unit performs assembly coordinate system construction, tool coordinate system construction, best fit calculation, and pose deviation calculation based on the feature point information, and outputs control commands through the drive control unit to achieve coordinated control and closed-loop adjustment of positioning accuracy for the positioning robot 4, the gluing robot 6, and the pre-connection robot 7. For a more specific structure of the controller component, those skilled in the art can refer to relevant technologies for configuration, which will not be described in detail here.

[0040] Therefore, the aircraft panel component assembly system provided in this embodiment includes a first guide rail assembly 1 and a second guide rail assembly 2, a panel assembly fixture 3 for fixing the panel 10 to be assembled is provided between the first guide rail assembly 1 and the second guide rail assembly 2, a positioning robot 4 that can be detachably connected to and coupled to the clamping execution device 5 is provided on the first guide rail assembly 1, an adhesive application robot 6 and a pre-connection robot 7 are provided on the second guide rail assembly 2, and a laser tracker 8 that can collect the spatial position information of the first feature point on the panel assembly fixture 3 and the second feature point on the clamping execution device 5 is also provided, and a controller assembly that is coupled to the positioning robot 4, the adhesive application robot 6, the pre-connection robot 7 and the laser tracker 8 is also provided. This allows for efficient assembly when assembling aircraft panel components. Panel assembly fixture 3 securely mounts the panel to be assembled (10), while positioning robot 4 facilitates the transfer and precise alignment of the components. Adhesive application robot 6 automatically applies adhesive to the components, and pre-connection robot 7 automatically pre-connects the components to the panel (10). This eliminates the need for manual assembly, improving efficiency and safety. Furthermore, the use of laser tracker 8 and controller components enables closed-loop control of the positioning robot 4's posture, enhancing the positioning accuracy between the components and the panel (10) and ensuring assembly consistency and quality.

[0041] In some embodiments, the aircraft panel component assembly system further includes a plurality of storage racks 9. The plurality of storage racks 9 are disposed between the first guide rail assembly 1 and the second guide rail assembly 2, and / or, the plurality of storage racks 9 are disposed on the side of the first guide rail assembly 1 opposite to the second guide rail assembly 2. Figure 2 , Figure 3 As shown, multiple storage racks 9 are used to store different types of parts to be assembled, and clamping actuators 5 corresponding to different types of parts to be assembled. Each clamping actuator 5 has at least three non-collinear second feature points. Each clamping actuator 5 can be detachably installed on the execution end of the positioning robot 4 and can be coupled to the positioning robot 4. Exemplarily, the multiple storage racks 9 include: a stringer and stringer clamping actuator storage rack, a machined frame and machined frame clamping actuator storage rack, a shearing corner piece and shearing corner piece clamping actuator storage rack, a plate-mounted corner piece and plate-mounted corner piece clamping actuator storage rack, etc. This arrangement allows the positioning robot 4 to easily replace different types of clamping actuators 5, and also facilitates the positioning robot 4 in gripping different types of parts to be assembled.

[0042] Of course, it is easy to understand that the aforementioned aircraft panel component assembly system may also have only one storage rack 9, on which different types of components to be assembled and the corresponding clamping actuators 5 may be placed; or, the aforementioned aircraft panel component assembly system may have only two storage racks 9, one for holding different types of components to be assembled, and the other for the corresponding clamping actuators 5. Those skilled in the art can set different storage racks 9 according to the usage requirements in the assembly process, and will not be listed exhaustively here.

[0043] In some embodiments, combined with Figure 1 , Figure 4 As shown, the aforementioned wall panel assembly fixture 3 includes: a support frame 31, an outer profile clamping plate 32, and a vacuum suction cup 33. The support frame 31 is disposed between the first guide rail assembly 1 and the second guide rail assembly 2. Multiple outer profile clamping plates 32 are spaced apart along a first direction X1 on the support frame 31. Each outer profile clamping plate 32 has an arc-shaped structure, and its curvature is the same as that of the wall panel 10 to be assembled, thus providing good support for the wall panel 10. The wall panel 10 to be assembled is detachably mounted on the side of the outer profile clamping plate 32 facing away from the second guide rail assembly 2. For example, a first lug positioning hole is provided on the wall panel 10 to be assembled, and a second lug positioning hole is provided on the wall panel assembly fixture 3 at a position corresponding to the first lug positioning hole. A positioning pin is simultaneously inserted into both the first and second lug positioning holes, thus enabling the wall panel 10 to be detachably mounted on the outer profile clamping plate 32.

[0044] Furthermore, the aforementioned vacuum suction cup 33 is disposed on the outer clamping plate 32 and can adsorb the wall panel 10 to be assembled. This arrangement facilitates the positioning and installation of the wall panel 10 to be assembled, while the adsorption force provided by the vacuum suction cup 33 can prevent the wall panel 10 to be assembled from being over-processed (i.e., having too many positioning holes for positioning).

[0045] In some embodiments, such as Figure 4As shown, a plate drive motor 34 is installed at both ends of the aforementioned outer plate 32. Both ends of the outer plate 32 are connected to the support frame 31 via the plate drive motor 34. Exemplarily, the plate drive motor 34 is mounted on the end of the outer plate 32 via a mounting base. A rack structure is provided on the support frame 31, and the output end of the plate drive motor 34 is connected to the rack structure via a transmission component (e.g., a gear set). The plate drive motor 34 can drive the outer plate 32 to move along the first direction X1 on the support frame 31. With this configuration, the position of the outer plate 32 on the support frame 31 can be changed using the plate drive motor 34, or the spacing between two adjacent outer plates 32 can be adjusted. This allows the aforementioned wall panel assembly fixture 3 to adapt to different models of wall panels 10 to be assembled.

[0046] In some embodiments, such as Figure 5 As shown, the clamping actuator 5 includes: a mounting plate 51, a quick-change chuck 52, a clamping assembly 53, and a clamping assembly 54. The mounting plate 51 provides the mounting position. The quick-change chuck 52 is disposed on one side of the mounting plate 51, allowing the clamping actuator 5 to be detachably mounted to the execution end of the positioning robot 4. It is readily understood that, to achieve coupling between the positioning robot 4 and the clamping actuator 5, and to control the movement of the clamping actuator 5, the quick-change chuck 52 is equipped with functional modules such as a signal and control module and a water / air module to meet the signal transmission, power supply, and air supply requirements of the clamping actuator 5. The specific structure of the quick-change chuck 52 can be found in relevant technical specifications and will not be described in detail here. Both the clamping assembly 53 and the clamping assembly 54 are disposed on the side of the mounting plate 51 opposite to the quick-change chuck 52. The clamping assembly 53 is, for example, a finger cylinder assembly (including a finger cylinder body and grippers, etc.), and the clamping assembly 54 is, for example, a push rod cylinder assembly (including a cylinder barrel, piston, piston rod, etc.). The clamping assembly 53 is used to clamp the part to be assembled, and the clamping assembly 54 is used to push the part to be assembled away from the mounting plate 51 so that the part to be assembled abuts against the wall plate 10 to be assembled (that is, to make the part to be assembled fit tightly against the wall plate 10 to facilitate subsequent pre-connection processing). It is easy to understand that when the type of part to be assembled is different, the specific shape of the corresponding clamping actuator 5 should also be adapted accordingly, but it still includes the above-mentioned multiple components. Those skilled in the art can flexibly set them according to actual usage needs, and they will not be listed exhaustively here.

[0047] In some embodiments, such as Figure 1As shown, there are two positioning robots 4, spaced apart along the first direction X1 on the first guide rail assembly 1. Both positioning robots 4 are coupled to the controller assembly, which can synchronously control the working state and pose of the two positioning robots 4. It is easy to understand that the controller assembly synchronously controls the two positioning robots 4 mainly by setting the synchronization of time and trajectory in the motion programs of the two positioning robots 4 to ensure the synchronicity of their movements. Specific settings can be found in relevant technologies and will not be described in detail here. With the above setup, when dealing with oversized parts to be assembled, two positioning robots 4 can be used simultaneously to transfer and position one part, improving the stability of the part during the transfer and positioning process.

[0048] On the other hand, this embodiment provides a method for assembling aircraft panel components, which is applied to the aircraft panel component assembly system described in any of the above embodiments. For example... Figure 6 As shown, the assembly method for the aircraft panel components includes:

[0049] Step S100: Install the wall panel 10 to be assembled onto the wall panel assembly fixture 3.

[0050] In step S200, the positioning robot 4 moves the corresponding part to be assembled to the gluing station via the gripping actuator 5, where the gluing robot 6 applies glue to the part. Specifically, the positioning robot 4 first moves to the storage rack 9 where the gripping actuator 5 is stored, detachably connects its actuator to the gripping actuator 5, and then controls the gripping actuator 5 to grip the part to be assembled. Subsequently, the positioning robot 4 moves to transfer the part to be assembled to the gluing station (the gluing station here refers to the position directly opposite the gluing robot 6), and finally, the gluing robot 6 applies glue to the connection points on the part to be assembled.

[0051] In step S300, the laser tracker 8 collects the spatial position information of multiple first feature points, and the controller component establishes the assembly coordinate system.

[0052] In step S400, the laser tracker 8 collects the spatial position information of multiple second feature points, and the controller component establishes the tool coordinate system.

[0053] In step S500, the controller component calculates the pose deviation based on the assembly coordinate system and the tool coordinate system, and determines whether the pose deviation is greater than 0.1mm. If the pose deviation is greater than 0.1mm, the controller component adjusts the pose of the positioning robot 4 according to the pose deviation, and then returns to step S400. It is easy to understand that if the pose deviation is less than or equal to 0.1mm, it means that the pose of the positioning robot 4 (or the pose of the gripping actuator 5) is correct, and the subsequent steps can continue, that is, proceed to step S600.

[0054] In step S600, the pre-connection robot 7 performs pre-connection processing on the component to be assembled and the wall panel 10 to be assembled. This pre-connection processing refers to drilling holes in the component to be assembled and in the wall panel 10 at positions corresponding to the component.

[0055] This aircraft panel component assembly method includes all the technical features of the aircraft panel component assembly system described in any of the above embodiments, and has the same beneficial effects as the aforementioned aircraft panel component assembly system, which will not be repeated here. Furthermore, this aircraft panel component assembly method standardizes and streamlines the assembly process of panel components, ensuring the standardization and continuity of assembly operations, effectively avoiding problems such as process confusion and omissions that are prone to occur in manual operations, and further improving assembly efficiency. Simultaneously, the method's design of using a laser tracker 8 to collect feature point information in real time, and a controller component to calculate pose deviations and adjust the pose of the positioning robot 4 in a closed loop, achieves dynamic calibration of the positioning of the components to be assembled. This not only improves the positioning accuracy between the components to be assembled and the panel 10 to be assembled, but also ensures the consistency of assembly of multiple batches and types of components, guaranteeing the stability of assembly quality from a process perspective, and meeting the high-precision, large-scale assembly requirements of modern civil aircraft.

[0056] In some embodiments, step S300 in the above-described aircraft panel component assembly method includes:

[0057] Step S310: Import the digital model of the wall panel assembly fixture 3 into 3D software (e.g., CATIA) to obtain the theoretical point set.

[0058] In step S320, the laser tracker 8 collects the spatial position information of multiple first feature points to obtain the measured point set.

[0059] Step S330: Establish the assembly coordinate system based on the measured point set and the theoretical point set.

[0060] Furthermore, step S330 above includes:

[0061] Step S331: Use the best fitting algorithm to perform matching calculations on the measured point set and the theoretical point set.

[0062] Step S332: Solve for the spatial coordinate transformation matrix; the spatial coordinate transformation matrix includes translation vectors and rotation matrices.

[0063] Step S333: Using the aforementioned spatial coordinate transformation matrix, the measurement coordinate system of the laser tracker 8 is registered and fitted with the theoretical design coordinate system of the three-dimensional software, thereby establishing the assembly coordinate system.

[0064] The solution to the spatial coordinate transformation matrix is ​​achieved by using the best fitting algorithm based on the least squares method. The measured point set and the theoretical point set are matched to find the rotation matrix and translation vector that minimize the error between the two sets of point sets. The rotation matrix and the translation vector together constitute the spatial coordinate transformation matrix.

[0065] Specifically, any theoretical point in space and measured points The following relationship must be satisfied:

[0066] Where R is a 3×3 rotation matrix used to implement the rotation transformation of the coordinates, and T is a 3×1 translation vector used to implement the translation transformation of the coordinates.

[0067] Furthermore, the optimization objective is to minimize the sum of squared errors between all corresponding points:

[0068] The rotation matrix R and translation vector T are obtained by solving the problem. Specifically, the solution can be obtained by singular value decomposition (SVD) or the unit quaternion method, thus obtaining the unique optimal rotation matrix R and translation vector T.

[0069] Finally, the rotation matrix R and the translation vector T are combined to obtain a 4×4 homogeneous spatial coordinate transformation matrix. This homogeneous spatial coordinate transformation matrix is ​​used to realize the coordinate transformation from the measurement coordinate system of the laser tracker to the theoretical design coordinate system.

[0070] It is easy to understand that the specific process of establishing the tool coordinate system in step S400 can refer to the specific implementation process of establishing the assembly coordinate system in step S300, and will not be described again here.

[0071] In some embodiments, the aircraft panel component assembly system further includes: a plurality of storage racks 9. The plurality of storage racks 9 are used to store different types of components to be assembled, and clamping actuators 5 corresponding to different types of components to be assembled.

[0072] The above-mentioned aircraft panel component assembly methods also include:

[0073] In step S700, the clamping actuator 5 releases the clamp on the part to be assembled, selects a part of the same type to be assembled, and repeats steps S200 to S600.

[0074] or,

[0075] The clamping actuator 5 releases the clamp on the part to be assembled, and a different type of clamping actuator 5 is replaced. A different type of part to be assembled is selected, and steps S200 to S600 are repeated.

[0076] Through the above steps, after completing the assembly of the current component, the same type of component to be assembled can be directly selected and the assembly process can be repeated to achieve continuous and automated batch assembly of the same type of component, effectively improving assembly efficiency and production line continuity. Alternatively, different types of clamping actuators 5 and corresponding components to be assembled can be replaced according to actual assembly needs to quickly switch assembly objects, enabling the assembly system to adapt to the assembly operations of various specifications and types of panel components, significantly improving the versatility and adaptability of the assembly system, and better meeting the diversified and large-scale production needs of aircraft panels.

[0077] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An aircraft panel component assembly system, characterized in that, include: A first guide rail assembly (1) and a second guide rail assembly (2) extend along a first direction (X1); the first guide rail assembly (1) and the second guide rail assembly (2) are spaced apart along a second direction (X2); the first direction (X1) is horizontal, and the second direction (X2) is at an angle to the first direction (X1); A wall panel assembly fixture (3) is disposed between the first guide rail assembly (1) and the second guide rail assembly (2); the wall panel assembly fixture (3) extends along the first direction (X1) and is used to install the wall panel (10) to be assembled; the wall panel assembly fixture (3) is provided with at least 3 non-collinear first feature points; A positioning robot (4) is mounted on the first guide rail assembly (1) and is capable of moving along the first direction (X1); the positioning robot (4) is detachably connected to the clamping execution device (5) and is coupled to the clamping execution device (5); the clamping execution device (5) is provided with at least 3 non-collinear second feature points; The glue-applying robot (6) and the pre-connecting robot (7) are both installed on the second guide rail assembly (2) and are both capable of moving along the first direction (X1); the glue-applying robot (6) is used to apply glue to the connection parts of the parts to be assembled; the pre-connecting robot (7) is used to perform pre-connection processing on the parts to be assembled and the wall panel (10) to be assembled. A laser tracker (8) is disposed on the side of the first guide rail assembly (1) away from the second guide rail assembly (2) and is used to collect the spatial position information of the first feature point and the spatial position information of the second feature point. The controller assembly is coupled to the positioning robot (4), the glue-applying robot (6), the pre-connection robot (7), and the laser tracker (8); the controller assembly is used to control the working state of the positioning robot (4), the glue-applying robot (6), and the pre-connection robot (7) respectively, and to control the pose of the positioning robot (4) according to the spatial position information of the first feature point and the spatial position information of the second feature point collected by the laser tracker (8) during the assembly process.

2. The aircraft panel component assembly system according to claim 1, characterized in that, The aircraft panel component assembly system also includes: Multiple storage racks (9) are disposed between the first guide rail assembly (1) and the second guide rail assembly (2), and / or, multiple storage racks (9) are disposed on the side of the first guide rail assembly (1) away from the second guide rail assembly (2); multiple storage racks (9) are used to store different types of parts to be assembled, and clamping execution devices (5) corresponding to different types of parts to be assembled; each of the multiple clamping execution devices (5) is provided with at least 3 non-collinear second feature points; each of the multiple clamping execution devices (5) can be detachably installed on the execution end of the positioning robot (4), and each can be coupled to the positioning robot (4).

3. The aircraft panel component assembly system according to claim 1, characterized in that, The wall panel assembly fixture (3) includes: The support frame (31) is disposed between the first guide rail assembly (1) and the second guide rail assembly (2); Multiple external clamps (32) are spaced apart along the first direction (X1) on the support frame (31); the external clamps (32) have an arc-shaped structure; the curvature of the external clamps (32) is the same as the curvature of the wall panel (10) to be assembled; the wall panel (10) to be assembled is detachably installed on the side of the external clamps (32) away from the second guide rail assembly (2); A vacuum suction cup (33) is provided on the outer shape plate (32) and can adsorb the wall panel (10) to be assembled.

4. The aircraft panel component assembly system according to claim 3, characterized in that, A plate drive motor (34) is installed at both ends of the outer plate (32); the two ends of the outer plate (32) are respectively connected to the support frame (31) through the plate drive motor (34); the plate drive motor (34) can drive the outer plate (32) to move along the first direction (X1) on the support frame (31).

5. The aircraft panel component assembly system according to claim 1, characterized in that, The clamping actuator (5) includes: Mounting plate (51) is used to provide an installation location; A quick-change chuck (52) is disposed on one side of the mounting plate (51); the clamping actuator (5) can be detachably installed on the execution end of the positioning robot (4) via the quick-change chuck (52); A clamping assembly (53) and a clamping assembly (54) are disposed on the side of the mounting plate (51) away from the quick-change chuck (52); the clamping assembly (53) is used to clamp the part to be assembled; the clamping assembly (54) is used to push the part to be assembled away from the mounting plate (51) so that the part to be assembled abuts against the wall panel (10) to be assembled.

6. The aircraft panel component assembly system according to any one of claims 1 to 5, characterized in that, The number of the positioning robots (4) is 2; the 2 positioning robots (4) are arranged at intervals along the first direction (X1) on the first guide rail assembly (1); both positioning robots (4) are coupled to the controller assembly; the controller assembly can synchronously control the working state and posture of the 2 positioning robots (4).

7. A method for assembling aircraft panel components, characterized in that, Applied to the aircraft panel component assembly system as described in any one of claims 1 to 6; The assembly method for the aircraft panel components includes: Step S100: Install the wall panel (10) to be assembled onto the wall panel assembly fixture (3). In step S200, the positioning robot (4) moves the corresponding part to be assembled to the glue application station through the clamping execution device (5), and the glue application robot (6) applies glue to the part to be assembled. In step S300, the laser tracker (8) collects spatial position information of multiple first feature points; the controller component establishes an assembly coordinate system; In step S400, the laser tracker (8) acquires the spatial position information of multiple second feature points; the controller component establishes a tool coordinate system; In step S500, the controller component calculates the pose deviation based on the assembly coordinate system and the tool coordinate system, and determines whether the pose deviation is greater than 0.1mm; if the pose deviation is greater than 0.1mm, the controller component adjusts the pose of the positioning robot (4) based on the pose deviation, and then returns to step S400. Step S600: The pre-connection robot (7) is used to pre-connect the component to be assembled and the wall panel to be assembled (10).

8. The aircraft panel component assembly method according to claim 7, characterized in that, Step S300 includes: Step S310: Import the digital model of the wall panel assembly fixture (3) into the three-dimensional software to obtain the theoretical point set; Step S320: The laser tracker (8) collects the spatial position information of multiple first feature points to obtain a set of measured points; Step S330: Establish an assembly coordinate system based on the measured point set and the theoretical point set.

9. The aircraft panel component assembly method according to claim 8, characterized in that, Step S330 includes: Step S331: Use the best fitting algorithm to perform matching calculations on the measured point set and the theoretical point set; Step S332: Solve for the spatial coordinate transformation matrix; the spatial coordinate transformation matrix includes a translation vector and a rotation matrix; Step S333: Using the spatial coordinate transformation matrix, the measurement coordinate system of the laser tracker (8) is registered and fitted with the three-dimensional software theoretical design coordinate system to establish the assembly coordinate system.

10. The aircraft panel component assembly method according to claim 7, characterized in that, The aircraft panel component assembly system further includes: multiple storage racks (9); the multiple storage racks (9) are used to store different types of components to be assembled, and clamping actuators (5) corresponding to different types of components to be assembled. The aircraft panel component assembly method also includes: In step S700, the clamping actuator (5) releases the clamp on the component to be assembled, selects the component to be assembled of the same type, and repeats steps S200 to S600. or, The clamping actuator (5) releases the clamp on the part to be assembled, replaces the clamping actuator (5) of a different type, selects the part to be assembled of the corresponding type, and repeats steps S200 to S600.

Images