Assembly method and device of airplane distribution box disc, servo positioning equipment and medium

Abstract

The invention discloses an assembly method and device of an airplane distribution box disc, servo positioning equipment and a medium, and relates to the technical field of intelligent assembly. The method comprises the following steps: in response to an assembly instruction of a target switchboard box of a target aircraft, transferring the target switchboard box to a fuselage mounting area, and determining first position information of each mounting hole of the target switchboard box; determining spatial position deviation based on the first position information of each mounting hole and the second position information of each fuselage joint hole; determining the moving distance of each linear motion unit based on each spatial position deviation and a preset decoupling adjustment sequence, and driving each linear motion unit to move based on each moving distance; and continuously executing the operation of determining the spatial position deviation until each spatial position deviation meets a preset threshold condition. According to the scheme, high-precision alignment of the mounting hole of the switchboard box and the machine body connector hole can be achieved, the assembly precision and efficiency are improved, and damage to parts is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent assembly technology, and in particular to an assembly method, apparatus, servo positioning device and medium for an aircraft power distribution box panel. Background Technology

[0002] Aircraft electrical distribution panels are key integrated components of airborne systems. Their assembly precision directly affects the reliability of electrical connections and the overall safety of the aircraft, making them a typical high-precision and high-requirement aviation assembly task.

[0003] Currently, the industry generally adopts a manual assembly method based on multi-person collaboration, mainly relying on the coordinated work of more than 6 operators: First, the distribution panel is initially hoisted to the machine installation area using hoisting equipment; then, multiple assembly workers visually observe from different angles, manually push or fine-tune the position of the panel, and judge based on experience whether the multiple mounting holes on it are roughly aligned with the corresponding connector holes on the machine; once preliminary alignment is observed, the workers quickly insert the bolts and manually tighten them. The entire assembly process relies entirely on manual labor for hoisting, alignment, observation, and tightening, and it usually takes 5 to 6 hours from hoisting to completing all bolt installation.

[0004] This method makes it difficult to achieve high-precision alignment between the mounting holes of the distribution panel box and the connector holes of the machine body, resulting in low assembly accuracy, low efficiency, and easy damage to components. Summary of the Invention

[0005] This invention provides an assembly method, apparatus, servo positioning device, and medium for an aircraft electrical distribution box, so as to achieve high-precision alignment between the mounting holes of the electrical distribution box and the fuselage connector holes, thereby improving assembly accuracy and efficiency and reducing component damage.

[0006] According to one aspect of the present invention, an assembly method for an aircraft power distribution panel box is provided, applied to a servo positioning device. The servo positioning device includes a fixed frame and a plurality of linear motion units driven by servo motors. The linear motion units are disposed on the fixed frame and are used to adjust the position and orientation of the power distribution panel box in space. The method includes: In response to the assembly command of the target electrical distribution box of the target aircraft, the target electrical distribution box is moved to the fuselage mounting area, and the first position information of each mounting hole of the target electrical distribution box is determined; Based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole, the spatial position deviation of each mounting hole and each fuselage connector hole is determined; Based on the spatial position deviations and the preset decoupling adjustment sequence, the moving distance of each linear motion unit is determined, and each linear motion unit is driven to move based on the moving distance. Continue performing the operation of determining the spatial position deviation of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition.

[0007] According to another aspect of the present invention, an assembly apparatus for an aircraft power distribution panel box is provided, which is deployed on a servo positioning device. The servo positioning device includes a fixed frame and a plurality of linear motion units driven by servo motors. The linear motion units are disposed on the fixed frame and are used to adjust the position and orientation of the power distribution panel box in space. The apparatus includes: The first determining module is used to, in response to the assembly command of the target electrical distribution box of the target aircraft, move the target electrical distribution box to the fuselage installation area and determine the first position information of each mounting hole of the target electrical distribution box; The second determining module is used to determine the spatial position deviation between each mounting hole and each fuselage connector hole based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole; The third determining module is used to determine the moving distance of each linear motion unit based on the spatial position deviation and the preset decoupling adjustment sequence, and drive each linear motion unit to move based on the moving distance. The fourth determining module is used to continue performing the operation of determining the spatial position deviation of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition.

[0008] According to another aspect of the present invention, a servo positioning device is provided, the servo positioning device comprising: A fixed frame and multiple servo motor-driven linear motion units are provided on the fixed frame for adjusting the position and orientation of the distribution panel box in space. At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the assembly method of the aircraft power distribution panel box according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the assembly method of the aircraft power distribution panel box according to any embodiment of the present invention.

[0010] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the assembly method of the aircraft power distribution panel box according to any embodiment of the present invention.

[0011] The technical solution of this invention involves a servo positioning device responding to an assembly command from a target electrical distribution box of a target aircraft. The device moves the target electrical distribution box to the fuselage mounting area and determines the first position information of each mounting hole of the target electrical distribution box. Based on the first position information of each mounting hole and the second position information of the corresponding fuselage connector holes, the spatial position deviation between each mounting hole and each fuselage connector hole is determined. Based on the spatial position deviation and a preset decoupling adjustment sequence, the moving distance of each linear motion unit is determined, and each linear motion unit is driven to move based on the moving distance. The operation of determining the spatial position deviation between each mounting hole and each fuselage connector hole continues until each spatial position deviation meets a preset threshold condition. This achieves high-precision alignment between the mounting holes of the electrical distribution box and the fuselage connector holes, improving assembly accuracy and efficiency, and reducing component damage.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of an assembly method for an aircraft electrical distribution box according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of a servo positioning device according to Embodiment 1 of the present invention; Figure 3 This is a flowchart of an assembly method for an aircraft electrical distribution box according to Embodiment 2 of the present invention; Figure 4 This is a flowchart of another assembly method for an aircraft electrical distribution box according to Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the assembly device for an aircraft power distribution box according to Embodiment 3 of the present invention; Figure 6This is a schematic diagram of the servo positioning device for implementing the assembly method of the aircraft power distribution panel box according to an embodiment of the present invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1 Figure 1 This is a flowchart of an assembly method for an aircraft power distribution panel according to Embodiment 1 of the present invention. This embodiment is applicable to the automatic assembly of aircraft power distribution panels. The method can be executed by an assembly device for the aircraft power distribution panel, which can be implemented in hardware and / or software and can be configured in a servo positioning device.

[0018] Figure 2 This is a schematic diagram of the structure of a servo positioning device according to Embodiment 1 of the present invention, as shown below. Figure 2 As shown, the servo positioning device may include a fixed frame 210 and multiple servo motor driven linear motion units. The linear motion units are mounted on the fixed frame and are used to adjust the position of the power distribution box in space.

[0019] In this embodiment, the linear motion unit may include two horizontal linear motion units 220 (i.e., horizontal (X-axis) adjustment mechanisms, which may include X1 and X2), a vertical linear motion unit 230 (i.e., horizontal (Y-axis) adjustment mechanism), and two vertical linear motion units 240 (i.e., vertical (Z-axis) adjustment mechanisms, which may include Z1 and Z2).

[0020] Optionally, in this embodiment, the servo positioning device may further include at least two camera devices; the camera devices are used to acquire images of the mounting holes, and each camera device corresponds to each mounting hole; for example, when the distribution panel box is provided with a left mounting hole, a right mounting hole and a middle mounting hole, the servo positioning device may be configured with three camera devices accordingly, which are respectively aligned with and used to acquire images of the left mounting hole, the right mounting hole and the middle mounting hole, so as to obtain the spatial position deviation of each mounting hole relative to the corresponding body connector hole.

[0021] It should be noted that, Figure 2 The various camera devices are not shown in the accompanying drawings, but this is only for clarity or simplification and is not intended to limit the technical solution of the present invention. Those skilled in the art should understand that as long as independent and clear image acquisition of each mounting hole can be achieved, the number, installation position, and optical parameters of the camera devices can be reasonably configured according to the actual assembly space, field of view requirements, and accuracy requirements, and all such configurations should fall within the protection scope of the present invention. Figure 1 As shown, the method includes: Step 110: In response to the assembly command of the target electrical distribution box of the target aircraft, move the target electrical distribution box to the fuselage installation area and determine the first position information of each mounting hole of the target electrical distribution box.

[0022] The target aircraft is a specific model or flight of aircraft to be assembled; the target electrical distribution box is a specific electrical distribution box component to be installed on the target aircraft; the fuselage mounting area is a local space on the aircraft structure pre-set for installing the electrical distribution box, which may include fuselage connector holes that match the mounting holes of the electrical distribution box; the first position information can be the three-dimensional spatial coordinates (x, y, z) of each mounting hole of the electrical distribution box in the global coordinate system (e.g., the aircraft coordinate system) in the initial positioning state, which can be obtained by vision, laser or displacement sensors.

[0023] For example, when a C919 aircraft enters the final assembly station and receives the instruction to assemble the front cargo hold electrical distribution panel box A01, it is the target aircraft and the target electrical distribution panel box; the fuselage installation area is the designated installation frame on the front cargo hold side wall; the first position information is the measured coordinates of the left, right and center mounting holes on the A01 box in the aircraft coordinate system.

[0024] In an optional implementation of this embodiment, after receiving the assembly instruction for the target electrical distribution box of the target aircraft, the processor or control system of the servo positioning device can parse the received assembly instruction and extract the model of the target electrical distribution box, the target aircraft identification, and the corresponding fuselage installation area position parameters. Further, the moving mechanism moves to the electrical distribution box buffer station, clamps or adsorbs the target electrical distribution box through the end effector, and uses the built-in force feedback or position detection unit to confirm that the clamping state is stable and reliable. Based on pre-stored path planning data, the target electrical distribution box is moved from the buffer station to the vicinity of the fuselage installation area along the obstacle avoidance trajectory, and finally stops at the initial positioning position at a set distance from the theoretical installation reference surface; this position ensures that the entire electrical distribution box is within the effective measurement field of view of the pose sensing device, while maintaining a safe clearance from the surrounding fuselage structure.

[0025] Once the distribution panel box has stabilized in its initial positioning position, the pose sensing device can be triggered to synchronously acquire local images or 3D point cloud data of each mounting hole. The raw data is then sent to the image processing module, where contrast enhancement and Gaussian filtering noise reduction are performed sequentially. An edge detection algorithm is then used to extract the circular contours of the mounting holes, and the center of the circle is fitted using the least squares method to calculate the center coordinates of each mounting hole in the camera coordinate system. These coordinates are then converted using hand-eye calibration parameters and uniformly mapped to the aircraft's global coordinate system, forming a complete set of 3D spatial coordinates. This set of coordinates is stored locally in memory as the primary position information for each mounting hole, for subsequent module access.

[0026] Optionally, in this embodiment, determining the first position information of each mounting hole of the target distribution panel box may include: acquiring images of each mounting hole of the distribution panel box through at least two camera devices to obtain images of each mounting hole; identifying the pixel coordinates of the target mounting hole in the target mounting hole image; and determining the first position information of the target mounting hole based on the pixel coordinates and the calibration parameters of the camera device corresponding to the target mounting hole.

[0027] The target mounting hole can be any mounting hole currently being processed, such as the left mounting hole, the right mounting hole, or the middle mounting hole; this embodiment does not limit its specificity. The target mounting hole image is the image captured by the camera device corresponding to the target mounting hole, which contains the complete outline of the hole. The pixel coordinates are the two-dimensional coordinates (u, v) of the center of the target mounting hole on the image sensor plane; the calibration parameters may include the intrinsic parameters (focal length, principal point, distortion coefficient) and extrinsic parameters (position and attitude relative to the aircraft's global coordinate system) of the camera device.

[0028] For example, suppose the distribution panel box has three mounting holes: left, right, and middle, which are aligned by cameras A, B, and C, respectively. When processing the left mounting hole, the target mounting hole is the left hole, and the image of the target mounting hole is the image taken by camera A. The pixel coordinates of the center of the hole in the image are identified as (1024, 768). Combining the pre-calibrated intrinsic and extrinsic parameters of camera A, the three-dimensional coordinates of the hole in the aircraft coordinate system are calculated as (1205.3, -850.7, 3210.1) mm through inverse perspective projection transformation, which is its first position information.

[0029] In an optional implementation of this embodiment, each camera device can be used to capture images of each mounting hole on the distribution panel box to obtain an image of each mounting hole. For each mounting hole image, image preprocessing operations are performed, such as grayscale conversion, Gaussian filtering, and histogram equalization, to enhance the clarity of the hole edges. Further, the Hough circle transform algorithm is used to detect circular features in the preprocessed image, and the detected candidate circles are filtered by radius and position to retain the mounting hole contours that conform to the preset size range. For the selected mounting hole contours, subpixel-level edge extraction and least squares circle fitting methods are further used to calculate the pixel coordinates of the mounting hole center in the image coordinate system.

[0030] Furthermore, the pixel coordinates are combined with the pre-calibrated intrinsic parameter matrix and distortion coefficients of the corresponding camera device to perform distortion correction, thereby obtaining normalized coordinates on the ideal imaging plane. Then, based on the extrinsic parameter matrix of the camera device relative to the aircraft's global coordinate system, the normalized coordinates are mapped to three-dimensional spatial points through the coordinate system transformation formula, thereby determining the three-dimensional coordinates of the mounting hole in the aircraft's global coordinate system. These three-dimensional coordinates serve as the first position information of the mounting hole.

[0031] The solution in this embodiment uses multiple camera devices corresponding to each mounting hole to acquire images, and combines high-precision image recognition and camera calibration parameters to perform three-dimensional coordinate calculation, thereby achieving independent and accurate measurement of the spatial position of each mounting hole. This method avoids the edge distortion and resolution reduction problems caused by single-camera large field-of-view imaging, and significantly improves the local accuracy of multi-hole pose perception.

[0032] Optionally, in this embodiment, before determining the first position information of each mounting hole of the target distribution panel box, it may further include: determining whether each camera device has acquired a complete image of the mounting hole; if it is determined that the first camera device has not acquired a complete image of the mounting hole, then driving the linear motion unit corresponding to the first camera device to move the distribution panel box until the first camera device acquires a complete image of the mounting hole.

[0033] Among them, a complete mounting hole image refers to an image captured by the camera device in which the entire circular outline of the target mounting hole is clearly visible, unobstructed, uninterrupted, and located within the effective area of ​​the image, which is sufficient to support subsequent center fitting.

[0034] The first camera device is any camera device that can be used to capture images of the mounting holes that match it; the linear motion unit corresponding to the first camera device is a linear motion actuator that is physically associated with the mounting holes monitored by the first camera device. For example, the left camera device corresponds to the left horizontal or vertical linear motion unit.

[0035] For example, if the lower half of the mounting hole on the left side is obscured by the edge of the distribution panel box due to the initial position of the left camera device being too high, only a semicircle will be displayed in the image, meaning a complete image of the mounting hole is not obtained. In this case, the left vertical linear motion unit can be driven to finely adjust the height of the distribution panel box downwards until a complete circular hole appears in the field of view of the left camera device, satisfying the image integrity criterion.

[0036] In an optional implementation of this embodiment, before determining the first position information of each mounting hole of the target distribution panel box, each camera device can be activated to synchronously acquire images of each mounting hole on the distribution panel box; an integrity check is performed on each mounting hole image, which includes the following operations: extracting the edge point set in the image and determining whether the edge points form a closed loop structure; calculating the radial continuity of the edge point distribution, and if there are missing arc segments larger than a preset angle range, it is determined to be incomplete; at the same time, it is checked whether the center of the fitted circle is located within a preset effective window of the image center region and the fitting residual is less than a set threshold; if any of the above conditions are not met, it is determined that the camera device has not acquired a complete mounting hole image; When the first camera device fails to acquire a complete image of the mounting hole, the linear motion unit to be activated is determined based on the deviation characteristics between the field of view of the camera device and the expected position of the mounting hole. Specifically, if the hole outline in the mounting hole image is biased upwards, the vertical linear motion unit corresponding to the camera device is driven to move the distribution box downwards; if the hole outline is biased to the left, the corresponding horizontal linear motion unit is driven to move the distribution box to the right. The distance moved each time is a preset fine-tuning step size, ranging from 0.1 mm to 1 mm. After the movement is completed, the first camera device is triggered to acquire an image again, and the integrity detection is repeated. This process is repeated until the mounting hole image acquired by the first camera device meets the integrity judgment conditions, namely, the edges are closed, the center of the circle is within the effective viewing window, and the fitting residual meets the standard. Subsequently, the same integrity verification and adjustment process is performed on other camera devices until all camera devices acquire complete images of the mounting hole.

[0037] In one example of this embodiment, the image of the right mounting hole captured by the right-side camera shows that only the upper half of the hole outline is retained, while the lower half is obscured by the distribution panel bracket. The image processing module calculates that the current fitted circle center is located at image coordinates (960, 200), which is significantly deviated from the central area (960, 540), and the missing arc exceeds 180 degrees, so the integrity detection fails. Based on this, the control system determines that the height of the right side of the distribution panel needs to be increased. Therefore, the right-side vertical linear motion unit is driven to move upward by 0.5 mm. After the movement, the image is re-imaged, and the right mounting hole in the new image appears as a complete circle with the center located at (962, 538). The fitting residual is 0.08 pixels, which is lower than the threshold of 0.1 pixels, so the integrity verification passes.

[0038] The solution in this embodiment introduces an image integrity detection mechanism for mounting holes before formal pose calculation, and when the detection fails, it links the corresponding linear motion unit to fine-tune the distribution panel box, ensuring that the quality of all camera input images meets the requirements of high-precision circle center fitting; effectively avoiding image information loss caused by partial occlusion, viewing angle shift or initial positioning deviation.

[0039] Step 120: Based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole, determine the spatial position deviation of each mounting hole and each fuselage connector hole.

[0040] The first position information refers to the three-dimensional coordinates (X1, Y1, Z1) of each mounting hole on the distribution panel box in the aircraft's global coordinate system; the second position information refers to the three-dimensional coordinates (X2, Y2, Z2) of the connector holes on the fuselage that are paired with each mounting hole in the same global coordinate system; the spatial position deviation is the three-dimensional vector difference between the paired mounting holes and connector holes, i.e., Δ=(X2-X1, Y2-Y1, Z2-Z1), which can reflect the degree of deviation between the current assembly state and the ideal alignment state.

[0041] Optionally, in this embodiment, the three-dimensional coordinates of each mounting hole on the power distribution panel box in the aircraft global coordinate system can be obtained from the image processing module as the first position information of each mounting hole; at the same time, the three-dimensional coordinates of the fuselage connector holes that are paired with each mounting hole in the same coordinate system can be read from the database of the servo positioning device as the second position information of each fuselage connector hole.

[0042] Furthermore, for each mounting hole and its paired fuselage connector hole, spatial position deviation calculations are performed: the X-coordinate of the mounting hole is subtracted from the X-coordinate of the fuselage connector hole to obtain the X-direction deviation; the Y-coordinate of the mounting hole is subtracted from the Y-coordinate of the fuselage connector hole to obtain the Y-direction deviation; the Z-coordinate of the mounting hole is subtracted from the Z-coordinate of the mounting hole to obtain the Z-direction deviation; the X-direction deviation, Y-direction deviation, and Z-direction deviation are combined into a three-dimensional vector, which serves as the spatial position deviation between the mounting hole and its corresponding fuselage connector hole. This calculation process is repeated until the spatial position deviations between all mounting holes and their corresponding fuselage connector holes are solved; all spatial position deviations are then indexed and stored according to the position identifiers of the mounting holes, forming a deviation dataset.

[0043] Optionally, in this embodiment, determining the spatial position deviation between each mounting hole and each fuselage connector hole based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole may include: obtaining the second position information of each fuselage connector hole; comparing the first position information of the target mounting hole and the second position information of the target fuselage connector hole corresponding to the target mounting hole to obtain the position difference between the target mounting hole and the target fuselage connector hole in three-dimensional space; and determining the position difference as the spatial position deviation between the target mounting hole and the target fuselage connector hole.

[0044] Among them, the target mounting hole is the mounting hole on a certain distribution panel box that is currently being processed, for example, the hole on the left side; the target body connector hole is the connector hole on the body that is designed to match the target mounting hole.

[0045] In an optional implementation of this embodiment, the three-dimensional coordinates of each fuselage connector hole in the aircraft global coordinate system can be read from the database of the servo positioning device as the second position information of each fuselage connector hole; a one-to-one correspondence between each mounting hole on the distribution panel box and each connector hole on the fuselage can be established, and this correspondence can be pre-configured according to the assembly design drawings and stored in the system configuration file; a target mounting hole can be selected, and its three-dimensional coordinates in the aircraft global coordinate system can be obtained as the first position information; according to the correspondence, a target fuselage connector hole paired with the target mounting hole can be determined, and the second position information of the target fuselage connector hole can be read; the X coordinate of the target fuselage connector hole is subtracted from the X coordinate of the target mounting hole to obtain the position difference in the X direction; the Y coordinate of the target fuselage connector hole is subtracted from the Y coordinate of the target mounting hole to obtain the position difference in the Y direction; the Z coordinate of the target fuselage connector hole is subtracted from the Z coordinate of the target mounting hole to obtain the position difference in the Z direction.

[0046] Furthermore, the position differences in the X, Y, and Z directions are combined into a three-dimensional vector, and this three-dimensional vector is recorded as the spatial position deviation between the target mounting hole and the target fuselage connector hole. The above process is repeated to process the remaining mounting holes in turn until the spatial position deviation calculation between all mounting holes and their corresponding fuselage connector holes is completed.

[0047] The solution in this embodiment achieves precise quantification of assembly misalignment by comparing the measured mounting hole coordinates with the fuselage connector hole coordinates in the design state axis by axis in a unified global coordinate system. This ensures that the adjustment command for each degree of freedom originates from the actual assembly error, thereby effectively avoiding over-adjustment, under-adjustment, or coupling interference caused by inaccurate error estimation, and significantly improving the convergence speed and final alignment accuracy of automatic assembly.

[0048] Step 130: Based on the spatial position deviations and the preset decoupling adjustment sequence, determine the moving distance of each linear motion unit, and drive each linear motion unit to move based on each moving distance.

[0049] The preset decoupling adjustment sequence is a pre-configured control strategy that executes adjustments of each degree of freedom in a specific order. This is used to avoid adjustment failures or oscillations caused by kinematic coupling during multi-axis linkage. For example, lateral adjustment is performed first, followed by vertical adjustment, and finally longitudinal adjustment. The movement distance of the linear motion unit is the distance that each linear motion unit moves along its motion axis. For example, the preset decoupling adjustment sequence is lateral-vertical-longitudinal, that is, lateral adjustment is processed first: based on the X-direction deviation of the mounting holes on the left and right sides, the lateral translation amount of 0.2 mm is calculated, and then the left lateral unit is moved by +0.25 mm and the right lateral unit is moved by -0.15 mm. After the lateral adjustment is completed, the vertical unit movement distance is calculated based on the updated vertical deviation.

[0050] Optionally, in this embodiment, after determining the spatial position deviations of each mounting hole and each body connector hole, a preset decoupling adjustment sequence can be read, and an adjustment direction can be selected sequentially according to this sequence as the current adjustment direction to be processed. Further, for the currently processed adjustment direction, the coordinate components in that adjustment direction can be extracted from each spatial position deviation. Based on the coordinate components of at least two mounting holes on the distribution panel box used for that adjustment direction in that adjustment direction, the required adjustment amount for that adjustment direction is calculated. Based on the adjustment amount and the arrangement relationship of each linear motion unit corresponding to that adjustment direction, the moving distance of each linear motion unit in that adjustment direction is determined. The determined moving distance is converted into a motion control command and sent to the corresponding servo driver. Further, each servo driver drives the corresponding linear motion unit to move a specified distance along its motion axis. After the movement is completed, the next adjustment direction is processed until all adjustment directions in the preset decoupling adjustment sequence have been executed.

[0051] In one optional implementation of this embodiment, firstly, the alignment distance deviation and its direction between the center of the electrical distribution box mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions are measured in the X-axis direction. Based on the two distance deviation values ​​and their directions, the hoisting tooling for assembling the aircraft electrical equipment is decoupled and stepped on the two X-axis moving units until the alignment distance deviation between the center of the electrical distribution box mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions is less than a set threshold, thus completing the alignment of the electrical distribution box mounting hole and the fuselage connector in the X-axis direction. Next, the alignment distance deviation and direction between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions are measured along the Z-axis. Based on these two deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the two Z-axis moving units is performed until the alignment distance deviation between the center of the electrical panel mounting hole and the center of the fuselage connector hole on both the left and right auxiliary positions is less than a set threshold, thus completing the alignment of the electrical panel mounting hole and the fuselage connector in the Z-axis direction. Finally, the alignment distance deviation and direction between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the middle main position are measured along the Y-axis. Based on these deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the Y-axis moving unit is performed until the alignment distance deviation between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the middle main position is less than a set threshold, thus completing the alignment of the electrical panel mounting hole and the fuselage connector in the Z-axis direction.

[0052] Step 140: Continue to perform the operation of determining the spatial position deviation of each mounting hole and each body connector hole until each spatial position deviation meets the preset threshold condition.

[0053] Optionally, in this embodiment, after driving each linear motion unit to complete the movement operation, each camera device can be further triggered to synchronously acquire the current image of each mounting hole on the distribution panel box; image preprocessing is performed on each mounting hole image, such as grayscale conversion, Gaussian filtering, and histogram equalization; then a fitting algorithm is used to extract the center pixel coordinates of each mounting hole; the center pixel coordinates are combined with the calibration parameters of the corresponding camera device, and the three-dimensional coordinates of each mounting hole in the aircraft global coordinate system are calculated through coordinate system transformation; the calculated coordinates of each mounting hole are compared axis by axis with the corresponding fuselage connector hole design coordinates to obtain the updated spatial position deviation.

[0054] Furthermore, each coordinate component in the updated spatial position deviation is compared with a preset threshold. If the absolute value of at least one coordinate component is greater than its corresponding preset threshold, the current assembly state is determined not to meet the accuracy requirements. The system then returns to the movement distance calculation module, which, based on the updated spatial position deviation and the preset decoupling adjustment sequence, redetermines the movement distance of each linear motion unit and drives each linear motion unit to move again. The above image acquisition, coordinate calculation, deviation comparison, and adjustment operation process is repeated. When the absolute values ​​of the spatial position deviation components of all mounting holes in all adjustment directions are less than or equal to their respective preset thresholds, the adjustment process is terminated, and the assembly alignment operation ends.

[0055] It should be noted that, in this embodiment, after completing a movement operation based on the decoupling adjustment sequence, due to the non-ideal characteristics of the mechanical system (e.g., transmission backlash, elastic deformation) and the multi-degree-of-freedom coupling effect, the actual pose of the distribution panel box may not have fully converged to the target state. Therefore, it is necessary to collect the current spatial position deviation of each mounting hole and the body connector hole again and determine whether it meets the preset threshold. If it does not meet the threshold, the deviation obtained from this measurement is used as the new input, and the movement distance calculation and driving operation based on the decoupling adjustment sequence are executed again. This process is repeated until all spatial position deviations are less than or equal to the corresponding preset threshold.

[0056] The technical solution of this embodiment responds to the assembly command of the target power distribution box of the target aircraft by using a servo positioning device to move the target power distribution box to the fuselage mounting area and determine the first position information of each mounting hole of the target power distribution box; based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole, the spatial position deviation of each mounting hole and each fuselage connector hole is determined; based on each spatial position deviation and a preset decoupling adjustment sequence, the moving distance of each linear motion unit is determined, and each linear motion unit is driven to move based on each moving distance; the operation of determining the spatial position deviation of each mounting hole and each fuselage connector hole continues until each spatial position deviation meets the preset threshold condition, which can achieve high-precision alignment of the mounting holes of the power distribution box and the fuselage connector holes, improve assembly accuracy and efficiency, and reduce component damage.

[0057] Example 2 Figure 3 This is a flowchart illustrating an assembly method for an aircraft power distribution panel according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution, and the technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the method includes: Step 310: In response to the assembly command of the target electrical distribution box of the target aircraft, move the target electrical distribution box to the fuselage installation area.

[0058] Step 320: Acquire images of each mounting hole of the distribution panel box using at least two camera devices to obtain images of each mounting hole.

[0059] Step 330: Determine whether each camera device has acquired a complete image of the mounting hole; if it is determined that the first camera device has not acquired a complete image of the mounting hole, drive the linear motion unit corresponding to the first camera device to move the distribution panel box until the first camera device acquires a complete image of the mounting hole.

[0060] Step 340: Determine the first position information of each mounting hole of the target distribution panel box.

[0061] Optionally, in this embodiment, the assembly process of the aircraft power distribution box can be decomposed into two stages: the first stage from the lifting position of the power distribution box to the time when the mounting hole of the power distribution box enters the field of view of the smart camera, and the second stage of automatic and rapid decoupling and alignment between the mounting hole of the power distribution box and the fuselage connector hole.

[0062] The first stage involves calibrating the assembly fixture and its servo positioning equipment for the aircraft power distribution panel box. First, the lifting position is calibrated to ensure that the lifting position of the power distribution panel box on the assembly fixture itself is exactly the same as its lifting position on the servo positioning equipment during each assembly process. Then, the motors on the X, Y, and Z axes are calibrated to ensure that the displacement of the assembly fixture itself for each rotation of the motors on the X, Y, and Z axes is exactly the same as the displacement of the servo positioning equipment throughout the entire assembly process.

[0063] Furthermore, the second stage of assembly of the aircraft power distribution panel box, including the alignment and calibration of its servo positioning equipment, can be performed. First, the tooling for the central main unit's industrial intelligent camera is installed and calibrated. Based on the calibrated industrial intelligent camera's focal length, the pixel points corresponding to the diameter of the connector holes on the main unit are measured to determine the correspondence between the main unit's industrial intelligent camera pixels and the actual distance to the mounting holes. This is used for automatic and rapid decoupling and alignment of the power distribution panel box mounting holes and fuselage connectors. Next, the tooling for the left auxiliary unit's industrial intelligent camera is installed and calibrated. Based on the calibrated industrial intelligent camera's focal length, the pixel points corresponding to the diameter of the connector holes on the left auxiliary unit are measured to determine the correspondence between the left auxiliary unit's industrial intelligent camera pixels and the actual distance to the mounting holes. Finally, the tooling for the right auxiliary unit's industrial intelligent camera is installed and calibrated. Based on the calibrated industrial intelligent camera's focal length, the pixel points corresponding to the diameter of the connector holes on the right auxiliary unit are measured to determine the correspondence between the right auxiliary unit's industrial intelligent camera pixels and the actual distance to the mounting holes.

[0064] In the first stage of the aircraft power distribution panel assembly process, assembly is primarily performed using servo positioning equipment for the power distribution panel assembly fixture. The calibrated servo positioning equipment monitors the assembly fixture, quickly moving the power distribution panel from its lifting position to a location where the mounting holes enter the field of view of the intelligent camera. The intelligent camera monitors whether all mounting holes of the power distribution panel at the central main camera position, the left auxiliary camera position, and the right auxiliary camera position are within its field of view. If not all mounting holes at these three positions are within the intelligent camera's field of view, the servo positioning equipment continues to adjust the posture of the power distribution panel until all mounting holes are within the camera's field of view. Throughout this first stage, the assembly fixture provides real-time feedback on the posture information of the power distribution panel and its mounting holes, which is used to control the servo positioning equipment.

[0065] Step 350: Based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole, determine the spatial position deviation of each mounting hole and each fuselage connector hole.

[0066] Step 360: Based on the spatial position deviations and the preset decoupling adjustment sequence, determine the moving distance of each linear motion unit, and drive each linear motion unit to move based on each moving distance.

[0067] Optionally, in this embodiment, determining the moving distance of each linear motion unit based on the spatial position deviation and the preset decoupling adjustment sequence, and driving each linear motion unit to move based on the moving distance, may include: determining the current adjustment direction based on the preset decoupling adjustment sequence; determining the moving distance of the linear motion unit corresponding to the current adjustment direction based on the spatial position deviation of at least two mounting holes corresponding to the current adjustment direction in the current adjustment direction; and driving the linear motion unit to move based on the moving distance.

[0068] The current adjustment direction is the direction being processed, determined according to the preset decoupling adjustment sequence, for example, the horizontal direction.

[0069] In an optional implementation of this embodiment, a preset decoupling adjustment sequence can be read from the storage unit, and the first adjustment direction in the sequence can be set as the current adjustment direction. Further, according to the current adjustment direction, at least two mounting holes on the distribution panel box for adjustment in that direction are selected; the coordinate components of the selected mounting holes in the current adjustment direction are extracted from the acquired spatial position deviation; based on the extracted coordinate components, the adjustment amount required for the current adjustment direction is calculated; according to the structural layout of the distribution panel box and the spatial correspondence between each linear motion unit and the mounting holes, the adjustment amount is converted into the moving distance of each linear motion unit corresponding to the current adjustment direction.

[0070] Furthermore, each movement distance is encapsulated as a motion control command and sent to the corresponding servo driver; each servo driver controls the corresponding linear motion unit to move a specified distance along its motion axis; during the movement, position feedback signals are collected in real time to ensure that the error between the actual displacement and the target movement distance is within the allowable range; after completing the movement operation in the current adjustment direction, the system switches to the next adjustment direction according to the preset decoupling adjustment sequence, and repeats the above operations of selecting mounting holes, extracting deviation components, calculating adjustment amount, determining movement distance, and driving movement.

[0071] The solution in this embodiment effectively isolates coupling interference between multiple degrees of freedom motions by introducing a preset decoupling adjustment sequence and handling deviations in only one direction in each round of adjustment. This avoids system oscillations or convergence failures caused by simultaneously adjusting multiple degrees of freedom. In each adjustment direction, the adjustment amount is determined collaboratively using the deviation information of at least two mounting holes. This allows the adjustment strategy to not only compensate for translational errors but also actively correct rotational errors reflected by relative changes in hole positions. The entire adjustment process proceeds sequentially and converges in each direction, significantly improving the stability and final accuracy of assembly alignment. This provides key technical support for achieving highly reliable, stress-free automated assembly.

[0072] Optionally, in this embodiment, determining the moving distance of the linear motion unit corresponding to the current adjustment direction based on the spatial position deviation of at least two mounting holes corresponding to the current adjustment direction in the current adjustment direction may include: when the current adjustment direction is lateral, the at least two mounting holes are a left mounting hole and a right mounting hole, and the corresponding linear motion units are a left lateral linear motion unit and a right lateral linear motion unit; based on the lateral spatial position deviation between the left mounting hole and the corresponding fuselage connector hole, and the lateral spatial position deviation between the right mounting hole and the corresponding fuselage connector hole, the lateral translation deviation and the rotational deviation about the vertical axis of the distribution panel box are calculated, and the moving distance of the left lateral linear motion unit and the right lateral linear motion unit are determined according to the lateral translation deviation and the rotational deviation, wherein the moving distance of the left lateral linear motion unit and the right lateral linear motion unit are... The directions of movement are opposite; when the current adjustment direction is vertical, at least two mounting holes are left mounting holes and right mounting holes, and the corresponding linear motion units are left vertical linear motion units and right vertical linear motion units; based on the vertical spatial position deviation between the left mounting hole and the corresponding body connector hole, and the vertical spatial position deviation between the right mounting hole and the corresponding body connector hole, the vertical translation deviation and rotational deviation around the transverse axis of the distribution panel box are calculated, and the movement distance of the left vertical linear motion unit and the right vertical linear motion unit is determined according to the vertical translation deviation and rotational deviation; when the current adjustment direction is longitudinal, at least two mounting holes include the middle mounting hole, and the corresponding linear motion unit is a longitudinal linear motion unit; based on the longitudinal spatial position deviation between the middle mounting hole and the corresponding body connector hole, the movement distance of the longitudinal linear motion unit is determined.

[0073] In an optional implementation of this embodiment, when performing the adjustment operation, the current adjustment direction can be determined according to a preset decoupling adjustment sequence. If the current adjustment direction is horizontal, the left and right mounting holes on the distribution panel are selected as the mounting holes to be adjusted, and the left and right horizontal linear motion units are called as the actuators. The spatial position deviation between the left mounting hole and the corresponding body connector hole in the horizontal direction, as well as the spatial position deviation between the right mounting hole and the corresponding body connector hole in the horizontal direction, are obtained. Based on these two deviation values, the translational deviation and rotational deviation of the distribution panel as a whole in the horizontal direction and around the vertical axis are calculated through geometric relationships. According to the calculated translational and rotational deviations, combined with the distance parameter between the left and right mounting holes, the moving distances of the left and right horizontal linear motion units are calculated respectively. The calculation results ensure that the moving directions of the two units are opposite to achieve differential adjustment, thereby simultaneously correcting translational and rotational errors.

[0074] If the current adjustment direction is vertical, then the left and right mounting holes are selected, and the left and right vertical linear motion units are invoked. The spatial position deviations of the left mounting hole and the corresponding fuselage connector hole in the vertical direction, as well as the spatial position deviations of the right mounting hole and the corresponding fuselage connector hole in the vertical direction, are obtained. Based on these two deviation values, the vertical translation deviation and the rotational deviation around the horizontal axis of the distribution panel are calculated. According to these translation and rotational deviations, combined with the horizontal spacing of the left and right mounting holes, the moving distances of the left and right vertical linear motion units are determined respectively, so that the distribution panel is aligned in the height direction while eliminating pitch attitude error.

[0075] If the current adjustment direction is longitudinal, the middle mounting hole on the distribution panel box is selected as the adjustment basis, and the longitudinal linear motion unit is called as the actuator; the spatial position deviation between the middle mounting hole and the corresponding body connector hole in the longitudinal direction is obtained; the deviation value is directly used as the moving distance of the longitudinal linear motion unit to drive the distribution panel box to move longitudinally and complete the alignment in the front and rear directions.

[0076] Step 370: Continue to perform the operation of determining the spatial position deviation of each mounting hole and each body connector hole until each spatial position deviation meets the preset threshold condition.

[0077] Optionally, in this embodiment, the operation of determining the spatial position deviations of each mounting hole and each fuselage connector hole continues until each spatial position deviation meets a preset threshold condition. This may include: in the current adjustment direction, acquiring the spatial position deviations of at least two mounting holes and their corresponding fuselage connector holes in the current adjustment direction; determining whether the spatial position deviations are less than or equal to a preset threshold corresponding to the current adjustment direction; if the spatial position deviations are greater than the preset threshold, determining the moving distance of each linear motion unit corresponding to the current adjustment direction based on the spatial position deviations, and driving each linear motion unit to move, and then repeating the step of acquiring the spatial position deviations; if the spatial position deviations are less than or equal to the preset threshold, selecting the next adjustment direction according to a preset decoupling adjustment sequence, and performing the operations of acquiring the spatial position deviations, determining the moving distance, and driving the movement in the next adjustment direction; when all adjustment directions in the preset decoupling adjustment sequence have been completed and the spatial position deviations in each adjustment direction are less than or equal to the preset threshold corresponding to that adjustment direction, stopping the adjustment operation.

[0078] In one optional implementation of this embodiment, under the current adjustment direction, the spatial position deviation between at least two mounting holes and their corresponding fuselage connector holes in the adjustment direction can be obtained; the obtained spatial position deviation is compared with a preset threshold corresponding to the adjustment direction; if the spatial position deviation is greater than the preset threshold, the moving distance of each linear motion unit corresponding to the current adjustment direction is calculated based on the deviation, and a corresponding motion control command is generated; each linear motion unit performs a moving operation along its motion axis according to the command; after the movement is completed, the spatial position deviation between the mounting holes and their corresponding fuselage connector holes in the current adjustment direction is obtained again, and the threshold judgment is performed again; this process is repeated until the spatial position deviation in the current adjustment direction is less than or equal to the preset threshold.

[0079] Once the deviation in the current adjustment direction meets the threshold requirement, the next adjustment direction is selected according to the preset decoupling adjustment sequence. For the next adjustment direction, the operation process of obtaining the spatial position deviation, judging whether it exceeds the limit, calculating the movement distance, driving the linear motion unit, and cyclic verification is repeated. Each adjustment direction in the decoupling adjustment sequence is processed in turn. When all adjustment directions have been completed and the spatial position deviation in each adjustment direction is less than or equal to its corresponding preset threshold, all adjustment operations are terminated and the assembly alignment process ends.

[0080] In this embodiment, before the second stage of the aircraft power distribution box assembly process begins, the alignment error of the power distribution box mounting hole and the fuselage connector hole on the X, Y and Z axes is monitored by the camera device. The power distribution box assembly tooling servo positioning device is adjusted to complete the second pose alignment between the power distribution box and the servo positioning device.

[0081] In the second stage of the aircraft electrical distribution panel assembly process, the assembly is mainly carried out by automatically and rapidly decoupling and aligning the electrical distribution panel assembly fixture. First, the alignment distance deviation and direction between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions are measured in the X-axis direction. Based on the two distance deviation values ​​and their directions, the hoisting fixture for assembling the aircraft electrical equipment is decoupled and stepped on the two X-axis moving units until the alignment distance deviation between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on both the left and right auxiliary positions is less than the set threshold, thus completing the alignment of the electrical distribution panel mounting hole and the fuselage connector in the X-axis direction. Next, the alignment distance deviation and direction between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions are measured along the Z-axis. Based on these two deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the two Z-axis moving units is performed until the alignment distance deviation between the center of the electrical panel mounting hole and the center of the fuselage connector hole on both the left and right auxiliary positions is less than a set threshold, thus completing the alignment of the electrical panel mounting hole and the fuselage connector in the Z-axis direction. Finally, the alignment distance deviation and direction between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the middle main position are measured along the Y-axis. Based on these deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the Y-axis moving unit is performed until the alignment distance deviation between the center of the electrical panel mounting hole and the center of the fuselage connector hole on the middle main position is less than a set threshold, thus completing the alignment of the electrical panel mounting hole and the fuselage connector in the Z-axis direction. Throughout the second phase, the servo positioning equipment of the distribution panel box assembly tooling monitors in real time the automatic and rapid decoupling and alignment process between the distribution panel box mounting holes and the machine body connector holes, avoiding collisions between the distribution panel box mounting holes and the machine body connector holes.

[0082] Next, the bolts are inserted into the corresponding mounting holes at each machine position to complete the assembly of the distribution panel box.

[0083] To better understand the assembly method of the aircraft electrical distribution box involved in this embodiment, Figure 4 This is a flowchart of another assembly method for an aircraft electrical distribution panel box according to Embodiment 2 of the present invention, see reference. Figure 4 Its main components include: First, the automatic assembly and alignment process of the power distribution box is executed; the initial pose adjustment of the power distribution box is performed using a digital prototype model (i.e., the servo positioning device involved in the above embodiment, which can also be called a digital prototype model, but it is not a limitation of this embodiment) so that it roughly enters the mounting area of ​​the body and approaches the target position.

[0084] Furthermore, it checks whether all mounting holes on the main camera position and the left and right auxiliary camera positions are within the field of view of the corresponding camera device. If any mounting hole is not within the field of view, the pose adjustment is continued using the digital prototype model until all mounting holes are within the effective measurement field of view. After all mounting holes are within the camera's field of view, the alignment distance deviation of the mounting holes on the left and right auxiliary camera positions in the X-axis direction and its deviation direction are measured. Based on the deviation value and direction, the hoisting fixture is driven to perform decoupled step adjustment on the two X-axis moving units, so that the mounting holes on the left and right auxiliary camera positions gradually align in the X-axis direction.

[0085] After adjustment, check again whether the alignment distance deviation of the mounting holes on the left and right auxiliary positions in the X-axis direction is less than the set threshold. If not, continue to perform decoupling step adjustment in the X-axis direction until the deviation meets the threshold requirement.

[0086] After the X-axis deviation meets the standard, measure the alignment distance deviation of the mounting holes on the left and right auxiliary machine positions in the Z-axis direction and its direction. Based on this deviation value and direction, drive the hoisting fixture to perform decoupled step adjustment on the two Z-axis moving units, so that the mounting holes on the left and right auxiliary machine positions gradually align in the Z-axis direction. After the adjustment is completed, check whether the alignment distance deviation of the mounting holes on the left and right auxiliary machine positions in the Z-axis direction is less than the set threshold. If it is not satisfied, continue to perform decoupled step adjustment in the Z-axis direction until the deviation value meets the threshold requirement. After the Z-axis deviation meets the standard, measure the alignment distance deviation of the mounting holes on the main machine position. The alignment distance deviation of the mounting holes in the Y-axis direction and its direction are measured. Based on this deviation value and direction, the hoisting fixture is driven to perform decoupling step adjustment on the X-axis moving unit to correct the offset of the mounting holes in the Y-axis direction. After adjustment, it is checked whether the alignment distance deviation of the mounting holes in the X-axis direction is less than the set threshold. If it is not satisfied, the decoupling step adjustment in the X-axis direction continues until the deviation value meets the threshold requirement. When the alignment deviation in all directions meets the set threshold, the bolts are manually inserted into the corresponding mounting holes in each machine position to complete the multi-degree-of-freedom decoupling mold assembly of the distribution panel box.

[0087] The following is a complete example to illustrate the solution of the present invention, which mainly includes: (1) The assembly process of the aircraft power distribution box is divided into two stages: the first stage from the lifting position of the power distribution box to the installation hole of the power distribution box entering the field of view of the intelligent camera, and the second stage of automatic and rapid decoupling and alignment between the installation hole of the power distribution box and the fuselage connector hole.

[0088] (2) Alignment and calibration of the first-stage aircraft power distribution panel assembly fixture and its servo positioning equipment. First, alignment and calibration of the lifting position are performed to ensure that the lifting position of the power distribution panel on the assembly fixture body is exactly the same as the lifting position on the assembly fixture servo positioning equipment during each assembly process. Then, alignment and calibration of the motors on the X-axis, Y-axis and Z-axis are performed respectively to ensure that the displacement of the assembly fixture body corresponding to each rotation of the motor on the X-axis, Y-axis and Z-axis is exactly the same as the displacement of the assembly fixture servo positioning equipment during the entire assembly process. In specific implementation, the alignment and calibration of the first-stage aircraft power distribution panel assembly fixture and its servo positioning equipment are performed manually. The manual calibration measurement shows that the number of control pulses required for the motor to rotate 5mm on the X-axis and Y-axis of the aircraft power distribution panel assembly fixture is 1×10. 7 This allows us to obtain an actual displacement accuracy of 0.5 × 10⁻⁶ for each pulse. -6 mm. The actual minimum pulse count is 100,000; therefore, the actual displacement accuracy of the X and Y axes is 0.05 mm. Manual calibration measurement shows that the actual movement distance of the aircraft electrical control panel assembly fixture on the Z-axis is 7.2 mm, requiring 7 × 10⁻⁶ control pulses for motor rotation. 8 This yields an actual displacement accuracy of approximately 1.03 × 10⁻⁶ for each pulse. -8 mm. The minimum number of pulses used in actual operation is 100,000; therefore, the actual displacement accuracy of the X-axis and Y-axis movement is 1.03 × 10⁻⁶ mm. -3 mm.

[0089] (3) Perform the alignment and calibration of the assembly fixtures and servo positioning equipment for the second-stage aircraft power distribution panel. First, install and calibrate the fixtures for the central main unit industrial intelligent camera. Based on the calibrated focal length of the industrial intelligent camera, measure the pixel points corresponding to the diameter of the connector hole on the main unit to determine the correspondence between the pixel points of the main unit industrial intelligent camera and the actual distance between the mounting holes. This is used for the automatic and rapid decoupling and alignment of the power distribution panel mounting holes and the fuselage connectors. Then, install and calibrate the fixtures for the left auxiliary unit industrial intelligent camera. Based on the calibrated focal length of the industrial intelligent camera, measure the pixel points corresponding to the diameter of the connector hole on the left auxiliary unit to determine the correspondence between the pixel points of the left auxiliary unit industrial intelligent camera and the actual distance between the mounting holes. Finally, install and calibrate the fixtures for the right auxiliary unit industrial intelligent camera. Based on the calibrated focal length of the industrial intelligent camera, measure the pixel points corresponding to the diameter of the connector hole on the right auxiliary unit to determine the correspondence between the pixel points of the right auxiliary unit industrial intelligent camera and the actual distance between the mounting holes. In practice, the alignment and calibration of the second-stage aircraft power distribution panel assembly fixture and its servo positioning equipment are performed manually. The diameter of the actual mounting hole in the power distribution panel is measured using vernier calipers and is determined to be 12mm. After completing the intelligent camera calibration, the number of pixels corresponding to the diameter of the mounting hole in the intelligent camera is measured and determined to be 304. Dividing the actual mounting hole diameter of 12mm by the number of pixels of 304 yields an actual distance accuracy of 0.039mm for each pixel.

[0090] (4) In the first stage of the aircraft power distribution panel assembly process, the assembly is mainly carried out using the power distribution panel assembly tooling servo positioning equipment. The power distribution panel assembly tooling is monitored by the aligned and calibrated servo positioning equipment to quickly move the power distribution panel from the lifting position to the position where the mounting holes are in the field of view of the intelligent camera. The intelligent camera monitors whether all the mounting holes of the power distribution panel on the middle main position, the left auxiliary position, and the right auxiliary position are in the field of view of the intelligent camera. If the mounting holes of the power distribution panel on the three positions are not all in the field of view of the industrial intelligent camera, the position and posture of the power distribution panel continues to be adjusted by the power distribution panel assembly tooling servo positioning equipment until all the mounting holes of the power distribution panel on the three positions are in the field of view of the industrial intelligent camera. Throughout the first stage, the power distribution panel assembly tooling entity provides real-time feedback on the position and posture information of the power distribution panel and its mounting holes, which is used to control the power distribution panel assembly tooling servo positioning equipment.

[0091] (5) Before the second stage of the aircraft power distribution box assembly process begins, the alignment error of the power distribution box mounting hole and the fuselage connector hole on the X, Y and Z axes is monitored by the intelligent camera. The power distribution box assembly tooling servo positioning equipment is adjusted to complete the second pose alignment between the power distribution box and the servo positioning equipment.

[0092] (6) For example Figure 4As shown, in the second stage of the aircraft electrical distribution panel assembly process, the assembly is mainly carried out by automatic and rapid decoupling and alignment of the electrical distribution panel assembly fixture. First, the alignment distance deviation and direction between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions are measured in the X-axis direction. Based on the two distance deviation values ​​and their directions, the hoisting fixture for assembling the aircraft electrical distribution equipment is decoupled and stepped on the two X-axis moving units until the alignment distance deviation between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary positions is less than the set threshold, thus completing the alignment of the electrical distribution panel mounting hole and the fuselage connector in the X-axis direction. The alignment distance deviation and direction between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the left and right auxiliary aircraft positions are measured along the Z-axis. Based on these two deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the two Z-axis moving units is performed until the alignment distance deviation between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on both the left and right auxiliary aircraft positions is less than a set threshold, thus completing the alignment of the electrical distribution panel mounting hole and the fuselage connector in the Z-axis direction. Finally, the alignment distance deviation and direction between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the middle main aircraft position are measured along the Y-axis. Based on these deviation values ​​and their directions, the decoupled attitude adjustment of the hoisting tooling for assembling the aircraft electrical equipment on the Y-axis moving unit is performed until the alignment distance deviation between the center of the electrical distribution panel mounting hole and the center of the fuselage connector hole on the middle main aircraft position is less than a set threshold, thus completing the alignment of the electrical distribution panel mounting hole and the fuselage connector in the Y-axis direction. Throughout the second phase, the servo positioning equipment of the distribution panel box assembly tooling monitors in real time the automatic and rapid decoupling and alignment process between the distribution panel box mounting holes and the machine body connector holes, avoiding collisions between the distribution panel box mounting holes and the machine body connector holes.

[0093] (7) Insert the bolts into the corresponding mounting holes of each machine position to complete the assembly of the distribution panel box.

[0094] The solution of this invention can solve the problem of rapid and high-quality assembly of distribution panels in confined spaces through manual on-site observation. This method is convenient and quick to apply, and can also achieve automatic and rapid decoupling and alignment of the mounting holes and connector holes on the chassis, improving the assembly efficiency and quality of the distribution panels.

[0095] Example 3 Figure 5This is a schematic diagram of an assembly device for an aircraft power distribution panel according to Embodiment 3 of the present invention. The device is deployed on a servo positioning device, which includes a fixed frame and multiple linear motion units driven by servo motors. The linear motion units are mounted on the fixed frame and are used to adjust the position and orientation of the power distribution panel in space. Figure 5 As shown, the device includes: a first determining module 510, a second determining module 520, a third determining module 530, and a fourth determining module 540.

[0096] The first determining module 510 is used to move the target power distribution box to the fuselage installation area in response to the assembly command of the target power distribution box of the target aircraft, and to determine the first position information of each mounting hole of the target power distribution box. The second determining module 520 is used to determine the spatial position deviation between each mounting hole and each fuselage connector hole based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole. The third determining module 530 is used to determine the moving distance of each linear motion unit based on the spatial position deviation and the preset decoupling adjustment sequence, and drive each linear motion unit to move based on the moving distance. The fourth determining module 540 is used to continue performing the operation of determining the spatial position deviation of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition.

[0097] In an optional implementation of this embodiment, the servo positioning device further includes at least two camera devices; the camera devices are used to capture images of the mounting holes, and each camera device corresponds one-to-one with each mounting hole; The first determining module 510 is specifically used to acquire images of each mounting hole of the distribution panel box through the at least two camera devices to obtain images of each mounting hole; Identify the pixel coordinates of the target mounting hole in the target mounting hole image; Based on the pixel coordinates and the calibration parameters of the camera device corresponding to the target mounting hole, the first position information of the target mounting hole is determined.

[0098] In an optional implementation of this embodiment, the assembly device for the aircraft power distribution panel box further includes: a mounting hole image recognition module, used to determine whether each of the camera devices has acquired a complete mounting hole image; If it is determined that the first camera device has not acquired a complete image of the mounting hole, the linear motion unit corresponding to the first camera device is driven to move the distribution panel box until the first camera device acquires a complete image of the mounting hole.

[0099] In an optional implementation of this embodiment, the second determining module 520 is specifically used to obtain the second position information of each of the fuselage connector holes; The first position information of the target mounting hole and the second position information of the target fuselage connector hole corresponding to the target mounting hole are compared to obtain the position difference between the target mounting hole and the target fuselage connector hole in three-dimensional space. The position difference is defined as the spatial position deviation between the target mounting hole and the target fuselage connector hole.

[0100] In an optional implementation of this embodiment, the third determining module 530 is specifically used to determine the current adjustment direction based on the preset decoupling adjustment sequence; Based on the spatial position deviation of at least two mounting holes corresponding to the current adjustment direction in the current adjustment direction, the moving distance of the linear motion unit corresponding to the current adjustment direction is determined; The linear motion unit is driven to move based on the distance traveled.

[0101] In an optional implementation of this embodiment, the linear motion unit includes a transverse linear motion unit, a longitudinal linear motion unit, and a vertical linear motion unit; the mounting holes of the distribution panel box include a left mounting hole, a right mounting hole, and a middle mounting hole; The third determining module 530 is further specifically used when the current adjustment direction is horizontal, the at least two mounting holes are the left mounting hole and the right mounting hole, and the corresponding linear motion units are the left horizontal linear motion unit and the right horizontal linear motion unit; based on the horizontal spatial position deviation between the left mounting hole and the corresponding body connector hole, and the horizontal spatial position deviation between the right mounting hole and the corresponding body connector hole, the module calculates the horizontal translation deviation and the rotational deviation around the vertical axis of the distribution panel box, and determines the moving distance of the left horizontal linear motion unit and the right horizontal linear motion unit according to the horizontal translation deviation and the rotational deviation, wherein the moving distance of the left horizontal linear motion unit is in the opposite direction to the moving distance of the right horizontal linear motion unit; When the current adjustment direction is vertical, the at least two mounting holes are the left mounting hole and the right mounting hole, and the corresponding linear motion units are the left vertical linear motion unit and the right vertical linear motion unit; based on the vertical spatial position deviation between the left mounting hole and the corresponding body connector hole, and the vertical spatial position deviation between the right mounting hole and the corresponding body connector hole, the vertical translation deviation and the rotational deviation around the horizontal axis of the distribution panel box are calculated, and the moving distance of the left vertical linear motion unit and the right vertical linear motion unit is determined according to the vertical translation deviation and the rotational deviation; When the current adjustment direction is longitudinal, the at least two mounting holes include the intermediate mounting hole, and the corresponding linear motion unit is a longitudinal linear motion unit; the moving distance of the longitudinal linear motion unit is determined based on the spatial position deviation between the intermediate mounting hole and the corresponding fuselage connector hole in the longitudinal direction.

[0102] In an optional implementation of this embodiment, the fourth determining module 540 is specifically used to obtain the spatial position deviation between the at least two mounting holes and the corresponding fuselage connector holes in the current adjustment direction. Determine whether the spatial position deviation is less than or equal to a preset threshold corresponding to the current adjustment direction; If the spatial position deviation is greater than the preset threshold, the moving distance of each linear motion unit corresponding to the current adjustment direction is determined based on the spatial position deviation, and each linear motion unit is driven to move. Then the step of obtaining the spatial position deviation is repeated. If the spatial position deviation is less than or equal to the preset threshold, the next adjustment direction is selected according to the preset decoupling adjustment sequence, and the operations of obtaining the spatial position deviation, determining the moving distance, and driving the movement are performed on the next adjustment direction. When all adjustment directions in the preset decoupling adjustment sequence have been completed and the spatial position deviation in each adjustment direction is less than or equal to the preset threshold corresponding to that adjustment direction, the adjustment operation is stopped.

[0103] The assembly device for the aircraft power distribution box provided in the embodiments of the present invention can perform the assembly method for the aircraft power distribution box provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of performing the method.

[0104] Example 4 Figure 6A schematic diagram of a servo positioning device 10, which can be used to implement embodiments of the present invention, is shown. The servo positioning device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The servo positioning device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0105] like Figure 6 As shown, the servo positioning device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from the storage unit 18. The RAM 13 can also store various programs and data required for the operation of the servo positioning device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] Multiple components in the servo positioning device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the servo positioning device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0107] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods described above, such as the assembly method of an aircraft electrical distribution panel box.

[0108] In some embodiments, the assembly method for the aircraft electrical distribution panel can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the servo positioning device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the assembly method for the aircraft electrical distribution panel described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the assembly method for the aircraft electrical distribution panel by any other suitable means (e.g., by means of firmware).

[0109] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, erasable programmable read-only memory (EPROM), optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0112] To provide interaction with the user, the systems and techniques described herein can be implemented on a servo positioning device having: a display device for displaying information to the user (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the servo positioning device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0113] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0114] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system. It addresses the shortcomings of traditional physical hosts and Virtual Private Servers (VPS) in terms of management difficulty and weak business scalability.

[0115] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0116] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

[0117] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements a database detection method as provided in any embodiment of this application.

[0118] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LANs or WANs—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0119] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the solution has been or necessarily used.

[0120] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for assembling an aircraft power distribution panel, applied to a servo positioning device, the servo positioning device comprising a fixed frame and multiple linear motion units driven by servo motors, the linear motion units being mounted on the fixed frame for adjusting the position and orientation of the power distribution panel in space, characterized in that... The method includes: In response to the assembly command of the target electrical distribution box of the target aircraft, the target electrical distribution box is moved to the fuselage mounting area, and the first position information of each mounting hole of the target electrical distribution box is determined; Based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole, the spatial position deviation of each mounting hole and each fuselage connector hole is determined; Based on the spatial position deviations and the preset decoupling adjustment sequence, the moving distance of each linear motion unit is determined, and each linear motion unit is driven to move based on the moving distance. Continue performing the operation of determining the spatial position deviation of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition.

2. The assembly method of the aircraft electrical distribution panel box according to claim 1, characterized in that, The servo positioning device further includes at least two camera devices; the camera devices are used to capture images of the mounting holes, and each camera device corresponds one-to-one with each mounting hole; The determination of the first position information of each mounting hole of the target distribution panel box includes: Images of each mounting hole in the distribution panel box are acquired by the at least two camera devices to obtain images of each mounting hole; Identify the pixel coordinates of the target mounting hole in the target mounting hole image; Based on the pixel coordinates and the calibration parameters of the camera device corresponding to the target mounting hole, the first position information of the target mounting hole is determined.

3. The assembly method of the aircraft electrical distribution panel box according to claim 2, characterized in that, Before determining the first position information of each mounting hole of the target distribution panel box, the method further includes: Determine whether each of the aforementioned camera devices has acquired a complete image of the mounting hole; If it is determined that the first camera device has not acquired a complete image of the mounting hole, the linear motion unit corresponding to the first camera device is driven to move the distribution panel box until the first camera device acquires a complete image of the mounting hole.

4. The assembly method of the aircraft electrical distribution panel box according to claim 3, characterized in that, The determination of the spatial position deviation between each mounting hole and each fuselage connector hole based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole includes: Obtain the second position information of each of the aforementioned fuselage connector holes; The first position information of the target mounting hole and the second position information of the target fuselage connector hole corresponding to the target mounting hole are compared to obtain the position difference between the target mounting hole and the target fuselage connector hole in three-dimensional space. The position difference is defined as the spatial position deviation between the target mounting hole and the target fuselage connector hole.

5. The assembly method of the aircraft electrical distribution panel box according to claim 1, characterized in that, The step of determining the moving distance of each linear motion unit based on the spatial position deviation and a preset decoupling adjustment sequence, and driving each linear motion unit to move based on the moving distance, includes: The current adjustment direction is determined based on the preset decoupling adjustment sequence; Based on the spatial position deviation of at least two mounting holes corresponding to the current adjustment direction in the current adjustment direction, the moving distance of the linear motion unit corresponding to the current adjustment direction is determined; The linear motion unit is driven to move based on the distance traveled.

6. The assembly method of the aircraft electrical distribution panel box according to claim 5, characterized in that, The linear motion unit includes a horizontal linear motion unit, a vertical linear motion unit, and a vertical linear motion unit; the mounting holes of the distribution panel box include a left mounting hole, a right mounting hole, and a middle mounting hole; Determining the moving distance of the linear motion unit corresponding to the current adjustment direction based on the spatial position deviation of at least two mounting holes corresponding to the current adjustment direction in the current adjustment direction includes: When the current adjustment direction is lateral, the at least two mounting holes are the left mounting hole and the right mounting hole, and the corresponding linear motion units are the left lateral linear motion unit and the right lateral linear motion unit; based on the lateral spatial position deviation between the left mounting hole and the corresponding body connector hole, and the lateral spatial position deviation between the right mounting hole and the corresponding body connector hole, the lateral translation deviation and the rotational deviation around the vertical axis of the distribution panel box are calculated, and the moving distance of the left lateral linear motion unit and the right lateral linear motion unit are determined according to the lateral translation deviation and the rotational deviation, wherein the moving distance of the left lateral linear motion unit is in the opposite direction to the moving distance of the right lateral linear motion unit; When the current adjustment direction is vertical, the at least two mounting holes are the left mounting hole and the right mounting hole, and the corresponding linear motion units are the left vertical linear motion unit and the right vertical linear motion unit; based on the vertical spatial position deviation between the left mounting hole and the corresponding body connector hole, and the vertical spatial position deviation between the right mounting hole and the corresponding body connector hole, the vertical translation deviation and the rotational deviation around the horizontal axis of the distribution panel box are calculated, and the moving distance of the left vertical linear motion unit and the right vertical linear motion unit is determined according to the vertical translation deviation and the rotational deviation; When the current adjustment direction is longitudinal, the at least two mounting holes include the intermediate mounting hole, and the corresponding linear motion unit is a longitudinal linear motion unit; the moving distance of the longitudinal linear motion unit is determined based on the spatial position deviation between the intermediate mounting hole and the corresponding fuselage connector hole in the longitudinal direction.

7. The assembly method of the aircraft electrical distribution panel box according to claim 6, characterized in that, The step of continuing to perform the operation of determining the spatial position deviations of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition includes: Under the current adjustment direction, obtain the spatial positional deviation between the at least two mounting holes and the corresponding fuselage connector holes in the current adjustment direction; Determine whether the spatial position deviation is less than or equal to a preset threshold corresponding to the current adjustment direction; If the spatial position deviation is greater than the preset threshold, the moving distance of each linear motion unit corresponding to the current adjustment direction is determined based on the spatial position deviation, and each linear motion unit is driven to move. Then the step of obtaining the spatial position deviation is repeated. If the spatial position deviation is less than or equal to the preset threshold, the next adjustment direction is selected according to the preset decoupling adjustment sequence, and the operations of obtaining the spatial position deviation, determining the moving distance, and driving the movement are performed on the next adjustment direction. When all adjustment directions in the preset decoupling adjustment sequence have been completed and the spatial position deviation in each adjustment direction is less than or equal to the preset threshold corresponding to that adjustment direction, the adjustment operation is stopped.

8. An assembly device for an aircraft power distribution panel, deployed on a servo positioning device, the servo positioning device comprising a fixed frame and multiple linear motion units driven by servo motors, the linear motion units being disposed on the fixed frame for adjusting the position and orientation of the power distribution panel in space, characterized in that... The device includes: The first determining module is used to, in response to the assembly command of the target electrical distribution box of the target aircraft, move the target electrical distribution box to the fuselage installation area and determine the first position information of each mounting hole of the target electrical distribution box; The second determining module is used to determine the spatial position deviation between each mounting hole and each fuselage connector hole based on the first position information of each mounting hole and the second position information of the fuselage connector hole corresponding to each mounting hole; The third determining module is used to determine the moving distance of each linear motion unit based on the spatial position deviation and the preset decoupling adjustment sequence, and drive each linear motion unit to move based on the moving distance. The fourth determining module is used to continue performing the operation of determining the spatial position deviation of each of the mounting holes and each of the fuselage connector holes until each of the spatial position deviations meets the preset threshold condition.

9. A servo positioning device, characterized in that, The servo positioning device includes: A fixed frame and multiple servo motor-driven linear motion units are provided on the fixed frame for adjusting the position and orientation of the distribution panel box in space. At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the assembly method of the aircraft electrical control panel box according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the assembly method of the aircraft electrical control panel box according to any one of claims 1-7.

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