Composite planar truss structure flexible assembly device and method

Abstract

The present application relates to a kind of composite plane truss structure flexible assembly device and method, the relative position of beam or joint in truss is determined by joint positioning block and beam positioning block, the number and placement position of joint positioning block and beam positioning block are determined according to truss numerical model, the positioning block is clamped by fine adjustment end effector, fine adjustment end effector is driven to initial position by two-axis moving mechanism, positioning block is automatically adjusted to target position by fine adjustment end effector under the control of online measurement result by laser tracker, positioning block is fixed on assembly platform using magnetic base, truss joint and beam are fixed by positioning pin and positioning block, so as to realize the positioning of truss joint and beam, guarantee the assembly positioning accuracy of truss.

Description

Technical Field

[0001] This invention relates to a flexible assembly device and method for composite planar truss structures, used for assembling planar truss structures, and belongs to the field of assembly manufacturing technology. Background Technology

[0002] Honeycomb sandwich panels used in the aerospace field typically consist of a main load-bearing truss, honeycomb core, skin, and embedded parts. The main load-bearing truss structure and dimensions vary, and high precision is required for assembly flatness and interface hole positions. Currently, the assembly and manufacturing of the main load-bearing truss uses traditional positioning tooling and manual assembly methods. To meet the production needs of multi-variety, high-volume honeycomb sandwich panel composite planar truss structures, a large number of customized high-precision assembly platforms are required, which leads to higher costs, longer production preparation cycles, and larger space requirements. Summary of the Invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide a flexible assembly device and method for composite planar truss structures, which can meet the assembly needs of planar trusses of different structures and sizes, without the need for a new dedicated assembly platform, and can meet the positioning accuracy requirements for the assembly of planar truss structures.

[0004] The technical solution of this invention is: In a first aspect, a flexible assembly device for a composite planar truss structure is provided, comprising: Assembly platform, two-axis moving mechanism, fine-tuning end effector, laser tracker, flexible combination fixture, control console; among which: The assembly platform provides a benchmark platform for assembling composite planar truss structures; The two-axis moving mechanism is mounted on the edge of the assembly platform to provide horizontal displacement for fine-tuning the end effector; The fine-tuning end effector is mounted on the two-axis moving mechanism and is used to clamp the flexible combination fixture. After the two-axis moving mechanism initially positions the fine-tuning end effector, the fine-tuning end effector precisely positions the flexible combination fixture. After being positioned by a fine-tuning end effector and placed on the assembly platform, the flexible combination fixture fixes and assists in the assembly of the composite planar truss structure. The laser tracker is set outside the assembly platform to calibrate the assembly platform, measure the position of the flexible combination fixture, and send the calibration and measurement results to the control console. The control console reads the digital model of the composite planar truss structure, receives the calibration and measurement results of the laser tracker, controls the two-axis moving mechanism and the fine-tuning end effector to perform displacement and positioning, and completes the positioning and fixing of the flexible combined fixture.

[0005] Preferably, the two-axis moving mechanism includes two fixed guide rails, one moving guide rail, two motor drive assemblies, three cable chain mechanisms, and a mounting bracket, wherein: Two fixed guide rails are fixed on two opposite sides of the assembly platform, and the two ends of the movable guide rail are connected to the two fixed guide rails respectively. The mounting bracket is installed on the moving guide rail of the two-axis moving mechanism for mounting the fine-tuning end effector; two cable chain mechanisms are respectively laid on two fixed guide rails and connected to both ends of the moving guide rail; one motor drive assembly is installed at one end of the fixed guide rail and connected to the cable chain mechanism on the fixed guide rail, driving the cable chain mechanism to move the moving guide rail along the direction of the fixed guide rail; a third cable chain mechanism is laid on the moving guide rail, and the mounting bracket is set on the cable chain mechanism on the moving guide rail; a second motor drive assembly is installed at one end of the moving guide rail and connected to the cable chain mechanism on the moving guide rail, driving the cable chain mechanism to move the mounting bracket on the moving guide rail. Two motor drive components receive operating commands from the control console, which drive the three drag chain mechanisms to move, moving the guide rail and mounting support to the designated position, thus completing the positioning of the fine-tuning end effector.

[0006] Preferably, the fine-tuning end effector includes: a positioning platform, an adapter support, electro-pneumatic components, and a guide rail, wherein: The guide rail is vertically mounted on the mounting bracket, and the alignment platform is mounted on the guide rail. The electro-pneumatic components are mounted on the mounting bracket and connected to the alignment platform. After receiving the air supply command sent by the control console, the electro-pneumatic components control the alignment platform to move up and down on the guide rail. The adapter bracket is fixed to the bottom of the alignment platform and is used to clamp the flexible combination fixture.

[0007] Preferably, the flexible combination clamp includes a joint positioning block and a beam positioning block, wherein: the joint positioning block is used to position and fix the joint part of the composite planar truss structure; the beam positioning block is used to position and fix the truss area of ​​the composite planar truss structure; Both the joint positioning block and the beam positioning block include: a magnetic base, a target ball seat, and a clamp head; specifically: The target ball holder is located on the upper edge of the magnetic base and is used to place the target ball of the laser tracker for positioning in conjunction with the laser tracker; the clamp head is detachably fixed to the upper end of the magnetic base.

[0008] Preferably, the clamp head of the joint positioning block is cylindrical and is fixed in place by fitting with the pre-drilled hole at the joint of the composite planar truss structure; The clamp head of the beam positioning block is box-shaped and is fixed to the beam of the composite planar truss structure by means of positioning pins.

[0009] Preferably, the flexible combination fixture also includes a standard pad; the standard pad is a hollow rectangular block used to support the non-positioning area of ​​the composite planar truss structure.

[0010] Preferably, the control console receives the calibration results of the assembly platform from the laser tracker, forms the platform coordinate system of the assembly platform, converts the read digital model of the composite planar truss structure into the platform coordinate system, generates the theoretical coordinates of the joint positioning block and the beam positioning block on the assembly platform, and decomposes them into the displacement of the two-axis moving mechanism and the displacement of the fine-tuning end effector. The control console sends running commands to the motor drive assembly of the two-axis moving mechanism to drive the fine-tuning end effector and the flexible combination fixture to initially move into place. The control console receives the measurement results of the flexible combination fixture position from the laser tracker, calculates the error between the measurement results and the theoretical coordinates, and sends an air supply command to the electro-pneumatic component of the fine-tuning end effector to control the alignment platform to move up and down on the guide rail and adjust the position of the flexible combination fixture. The control console also provides a visual user interface.

[0011] Secondly, a flexible assembly method for a composite planar truss structure is provided, including: S1. Control the console to read the digital model of the composite planar truss structure; S2. The laser tracker calibrates the assembly platform; the control console receives the calibration results of the laser tracker on the assembly platform, forms the platform coordinate system of the assembly platform, and converts the read digital model of the composite planar truss structure into the platform's coordinate system. S3. Control the console to generate the theoretical coordinates of the joint positioning block and the beam positioning block in the platform coordinate system; S4. The control console sends a running command to the motor drive assembly of the two-axis moving mechanism, which drives the fine-tuning end effector and the flexible combination fixture to move into place initially. S5. The laser tracker measures the position of the flexible combination fixture and generates measurement results; S6. Control the control console to calculate the deviation between the measurement results and the theoretical coordinates, send air supply commands to the electro-pneumatic components of the fine-tuning end effector, and control the alignment platform of the fine-tuning end effector to make fine adjustments until the flexible combination fixture is adjusted to the theoretical position. S7. Place the composite planar truss structure on the flexible combination fixture; S8. The joints and beams of the composite planar truss structure are manually placed into the corresponding positions of the positioning blocks until all assembly parts are placed in place and fixed, thus completing the assembly of the composite planar truss structure.

[0012] Compared with the prior art, the present invention has the following advantages: This invention can meet the assembly needs of planar trusses with different structures and sizes, without the need to make a new special assembly platform, thereby reducing costs, shortening production preparation time, improving efficiency, and saving space. Attached Figure Description

[0013] Figure 1 This is a flowchart of the flexible assembly method for composite planar truss structures according to the present invention; Figure 2 This is a top view of the flexible assembly device for composite planar truss structure of the present invention; Figure 3 This is a front view of the flexible assembly device for composite planar truss structure of the present invention; Figure 4 This is a schematic diagram of the standard pad block of the present invention; Figure 5 This is a schematic diagram of the connector positioning block of the present invention; Figure 6 This is a schematic diagram of the beam positioning block of the present invention; Figure 7 This is a schematic diagram of the fine-tuning end effector of the present invention. Detailed Implementation

[0014] This invention provides a flexible assembly device and method for composite planar truss structures, which can meet the assembly needs of planar trusses of different structures and sizes, without the need for a newly made dedicated assembly platform, and can meet the positioning accuracy requirements for the assembly of planar truss structures.

[0015] To solve the above problems, the specific technical solution of this device and method is as follows: During the assembly of composite planar trusses, the relative positions of beams or joints are determined by joint positioning blocks and beam positioning blocks. The number and placement of joint positioning blocks and beam positioning blocks are determined based on the truss digital model. The positioning blocks are clamped by a fine-tuning end effector, and the fine-tuning end effector is driven to its initial position by two-axis movement. The fine-tuning end effector is automatically adjusted to the target position by the online measurement results of the laser tracker. The positioning blocks are fixed to the assembly platform using a magnetic base. The truss joints and beams are fixed to the positioning blocks by positioning pins, thereby realizing the positioning of composite truss joints and beams and ensuring the assembly positioning accuracy of the truss.

[0016] I. The flexible assembly device for composite planar truss structure is characterized by comprising: an assembly platform 1, a two-axis moving mechanism 2, a fine-tuning end effector 3, a laser tracker 4, a control console 5, a tool cabinet 6, and a flexible combination fixture 7, wherein the flexible combination fixture 7 includes a standard pad, a joint positioning block, and a beam positioning block.

[0017] The assembly platform 1 provides a reference platform for assembling composite planar truss structures. The length and width of the platform should, as far as possible, include the length and width of all trusses to be assembled, so as to adapt to the assembly of planar trusses of different sizes and structures. The flatness of the platform should meet the usage requirements in the installation and leveling state.

[0018] The two-axis moving mechanism 2 enables the fine-tuning end effector 3 to move freely and be positioned within a certain range in the X, Y, and Z directions.

[0019] The fine-tuning end effector 3 enables the clamping of the positioning block and the laser tracker target ball, and automatically moves the positioning block and the laser tracker target ball to the target position within a certain range according to the controller command; it includes a UVW alignment platform, a mounting base, electro-pneumatic components, and a slide rail.

[0020] The flexible combination clamp 7 includes: a standard pad, a joint positioning block, and a beam positioning block. The flexible combination clamp 7 is a split structure and can be used for positioning beams and joints of composite planar trusses of different structural sizes. The flexible combination clamp 7 consists of a positioning block magnetic base, a target ball seat, a clamp head (including positioning holes and positioning pins), a split structure connecting positioning pin, and a split structure connecting screw.

[0021] Control console 5 controls the stepper motor and UVW alignment platform. The laser tracker transmits the measured error to the control system of control console 5. The control system drives the alignment platform according to the error, and the actuator moves the target being measured. The error of the target being measured is then detected again by the laser tracker. This cycle continues until the accuracy requirement of the specified threshold is met. Control console 5 can also read digital model information, extract positioning point coordinates, acquire laser tracker measurement data, analyze and process data, monitor data, and access the operation interface. The operation interface is divided into a process design interface and a field operation interface.

[0022] II. The aforementioned flexible assembly method for composite planar truss structures includes the following steps: S1. Control console 5 reads the digital model of the composite planar truss structure; S2, the laser tracker 4 calibrates the assembly platform 1; the control console 5 receives the calibration results of the laser tracker 4 on the assembly platform 1, forms the platform coordinate system of the assembly platform 1, and converts the digital model of the composite planar truss structure read into the platform coordinate system. S3. Control console 5 to generate the theoretical coordinates of the joint positioning block and beam positioning block in the platform coordinate system; S4. The control console 5 sends a running command to the motor drive assembly 9 of the two-axis moving mechanism 2, which drives the fine-tuning end effector 3 and the flexible combination fixture 7 to move into place initially. S5, the laser tracker 4 measures the position of the flexible combination fixture 7 and generates measurement results; S6. The control console 5 calculates the deviation between the measurement result and the theoretical coordinates, sends an air supply command to the electro-pneumatic component 34 of the fine-tuning end effector 3, and controls the alignment platform 31 of the fine-tuning end effector 3 to make fine adjustments until the flexible combination fixture 7 is adjusted to the theoretical position. S7. Place the composite planar truss structure on the flexible combination clamp 7; S8. The joints and beams of the composite planar truss structure are manually placed into the corresponding positions of the positioning blocks until all assembly parts are placed in place and fixed, thus completing the assembly of the composite planar truss structure.

[0023] III. The specific embodiments of this invention will be described in further detail with reference to the accompanying drawings.

[0024] like Figure 2 , Figure 3 As shown, the flexible assembly device includes an assembly platform 1, a two-axis moving mechanism 2, a fine-tuning end effector 3, a laser tracker 4, a control console 5, a tool cabinet 6, a flexible combination fixture 7, a control system, and a software system. The flexible combination fixture 7 mainly includes standard pads (such as...). Figure 4 As shown), connector positioning block (such as Figure 5 (as shown) and beam positioning blocks (such as) Figure 6 (As shown).

[0025] like Figure 5 , 6 As shown, the joint positioning block and beam positioning block include a positioning block magnetic base 71, a target ball seat 72, a clamp head (including a positioning hole and a positioning pin) 73, a split structure connecting positioning pin 74, and a split structure connecting screw 75.

[0026] like Figure 7 As shown, the fine-tuning end effector 3 includes an alignment platform 31, a mounting support 32, an adapter support 33, an electro-pneumatic component 34, and a guide rail 35.

[0027] Specifically: (I) A flexible assembly device for a composite planar truss structure, comprising: an assembly platform 1, a two-axis moving mechanism 2, a fine-tuning end effector 3, a laser tracker 4, a flexible combination fixture 7, and a control console 5; wherein: Assembly platform 1 provides a reference platform for assembling composite planar truss structures; The two-axis moving mechanism 2 is mounted on the edge of the assembly platform 1 to provide horizontal displacement for the fine-tuning end effector 3; The fine-tuning end effector 3 is mounted on the two-axis moving mechanism 2 and is used to clamp the flexible combination fixture 7. After the two-axis moving mechanism 2 is initially positioned, the flexible combination fixture 7 is precisely positioned. After the flexible combination fixture 7 is positioned by the fine-tuning end effector 3 and placed on the assembly platform 1, it fixes and assists in the assembly of the composite planar truss structure. The laser tracker 4 is set outside the assembly platform 1 to calibrate the assembly platform 1, measure the position of the flexible combination fixture 7, and send the calibration results and measurement results to the control console 5. The control console 5 reads the digital model of the composite planar truss structure, receives the calibration and measurement results of the laser tracker 4, controls the two-axis moving mechanism 2 and the fine-tuning end effector 3 to perform displacement and positioning, and positions and fixes the flexible combination fixture 7.

[0028] (1) The two-axis moving mechanism 2 includes two fixed guide rails, one moving guide rail, two motor drive assemblies 9, three drag chain mechanisms 8, and a mounting bracket 32, wherein: Two fixed guide rails are fixed on two opposite sides of the assembly platform 1, and the two ends of the movable guide rail are connected to the two fixed guide rails respectively. The motor drive assembly 9 receives the running command sent by the control console 5, and drives the drag chain mechanism 8 to move the moving guide rail along the direction of the fixed guide rail. Mounting support 32 is mounted on the moving guide rail of the two-axis moving mechanism 2, and is used to mount the fine-tuning end effector 3; motor drive assembly 9 is mounted at both ends of the guide rail, and is connected to mounting support 32 via cable chain mechanism 8. Motor drive assembly 9 receives operating commands sent by control console 5, and drives cable chain mechanism 8 to move mounting support 32 along the moving guide rail. Specifically: Two cable chain mechanisms 8 are respectively laid on two fixed guide rails and connected to both ends of a movable guide rail. One motor drive assembly 9 is installed at one end of the fixed guide rail and connected to the cable chain mechanism 8 on the fixed guide rail, driving the cable chain mechanism 8 to move the movable guide rail along the direction of the fixed guide rail. A third cable chain mechanism 8 is laid on the movable guide rail, and a mounting bracket 32 ​​is set on the cable chain mechanism 8 on the movable guide rail. A second motor drive assembly 9 is installed at one end of the movable guide rail and connected to the cable chain mechanism 8 on the movable guide rail, driving the cable chain mechanism 8 to move the mounting bracket 32 ​​on the movable guide rail. The two motor drive assemblies 9 receive the running instructions sent by the control console 5, drive the three cable chain mechanisms 8 to move, and drive the movable guide rail and the mounting bracket 32 ​​to the designated position, completing the positioning of the fine-tuning end effector 3.

[0029] (2) The fine-tuning end effector 3 includes: a positioning platform 31, an adapter support 33, an electro-pneumatic component 34, and a guide rail 35, wherein: The guide rail 35 is vertically mounted on the mounting support 32, the alignment platform 31 is mounted on the guide rail 35, the electro-pneumatic component 34 is mounted on the mounting support 32, and receives the air supply command sent by the control console 5 to control the alignment platform 31 to move up and down on the guide rail 35. The adapter support 33 is fixed to the bottom end of the alignment platform 31 and is used to clamp the flexible combination clamp 7.

[0030] (3) The flexible combination clamp 7 includes a joint positioning block and a beam positioning block, wherein: the joint positioning block is used to position and fix the joint part of the composite planar truss structure; the beam positioning block is used to position and fix the truss area of ​​the composite planar truss structure; Both the joint positioning block and the beam positioning block include: a magnetic base, a target ball seat, and a clamp head; specifically: The target ball holder is located on the edge of the upper surface of the magnetic base and is used to place the target ball of the laser tracker and to cooperate with the laser tracker 4 for positioning; the clamp head is detachably fixed to the upper end of the magnetic base.

[0031] The clamp head of the joint positioning block is cylindrical and is fixed in place by fitting with the pre-drilled hole at the joint of the composite planar truss structure. The clamp head of the beam positioning block is box-shaped and is fixed to the beam of the composite planar truss structure by means of positioning pins.

[0032] The flexible combination fixture 7 also includes standard pads; the standard pads are hollow rectangular blocks used to support the non-positioning areas of the composite planar truss structure.

[0033] (4) The control console 5 receives the calibration results of the laser tracker 4 on the assembly platform 1, forms the platform coordinate system of the assembly platform 1, converts the read composite planar truss structure into a digital model and places it in the platform coordinate system, generates the theoretical coordinates of the joint positioning block and the beam positioning block on the assembly platform, and decomposes them into the displacement of the two-axis moving mechanism 2 and the displacement of the fine-tuning end effector 3. It sends displacement commands to the motor drive assembly 9 of the two-axis moving mechanism 2 and the electro-pneumatic component 34 of the fine-tuning end effector 3, so that the flexible combination fixture 7 is initially moved into place. The laser tracker 4 receives the measurement results of the position of the flexible combination fixture 7, calculates the error between the measurement results and the theoretical coordinates, and sends a fine-tuning command to the alignment platform 31 of the fine-tuning end effector 3 accordingly. The control console 5 also provides a visual operating interface.

[0034] (6) Tool cabinet 6 is used to store flexible combination fixtures 7 when the equipment is finished.

[0035] (II) A flexible assembly method for a composite planar truss structure, such as Figure 1 As shown, the specific implementation steps are as follows: (1) Read the digital model of the composite planar truss structure; (2) The laser tracker coordinate system will be transformed from the world coordinate system through calibration, and then the digital model coordinate system will be transformed from the platform coordinate system. (3) Generate the placement positions of the joint positioning blocks and beam positioning blocks on the assembly platform based on the truss digital model; (4) The positioning block is clamped to the initial position by the three-axis moving lifting mechanism; (5) Measure the X and Y coordinates of the positioning holes of each positioning block online using a laser tracker; (6) The controller calculates the deviation between the initial coordinates and the theoretical coordinates, and controls the end effector to automatically adjust the positioning block in the plane until the positioning hole of the positioning block is adjusted to the theoretical position; (7) Use the magnetic base to fix the positioning block on the assembly platform; (8) The joints and beams are placed in the corresponding positions of the positioning blocks by hand, and the positioning pins are inserted into the corresponding positioning holes. Each joint and beam is fixed by two positioning holes until all the assembled parts are placed in place and fixed, thus completing the truss assembly.

[0036] The above description is only the best specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the protection scope of the present invention.

[0037] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A flexible assembly device for a composite planar truss structure, characterized in that... include: Assembly platform (1), two-axis moving mechanism (2), fine-tuning end effector (3), laser tracker (4), flexible combination fixture (7), control console (5); wherein: Assembly platform (1) provides a reference platform for assembling composite planar truss structures; The two-axis moving mechanism (2) is installed on the edge of the assembly platform (1) to provide horizontal displacement for the fine-tuning end effector (3); The fine-tuning end effector (3) is mounted on the two-axis moving mechanism (2) and is used to clamp the flexible combination fixture (7). After the two-axis moving mechanism (2) initially positions the fine-tuning end effector (3), the fine-tuning end effector (3) precisely positions the flexible combination fixture (7). After the flexible combination fixture (7) is positioned by the fine-tuning end effector (3) and placed on the assembly platform (1), it fixes and assists in the assembly of the composite planar truss structure. The laser tracker (4) is set outside the assembly platform (1) to calibrate the assembly platform (1), measure the position of the flexible combination fixture (7), and send the calibration results and measurement results to the control console (5). The control console (5) reads the digital model of the composite planar truss structure, receives the calibration and measurement results of the laser tracker (4), controls the two-axis moving mechanism (2) and the fine-tuning end effector (3) to perform displacement and positioning, and completes the positioning and fixing of the flexible combination fixture (7).

2. The flexible assembly device for a composite planar truss structure according to claim 1, characterized in that: The two-axis moving mechanism (2) includes two fixed guide rails, one moving guide rail, two motor drive assemblies, three drag chain mechanisms, and a mounting bracket (32), wherein: Two fixed guide rails are fixed on the two opposite sides of the assembly platform (1), and the two ends of the movable guide rail are connected to the two fixed guide rails respectively. The mounting bracket (32) is installed on the moving guide rail of the two-axis moving mechanism (2) for installing the fine-tuning end effector (3); two cable chain mechanisms are respectively laid on two fixed guide rails and connected to both ends of the moving guide rail; one of the motor drive components is installed at one end of the fixed guide rail and connected to the cable chain mechanism on the fixed guide rail, driving the cable chain mechanism to move the moving guide rail along the direction of the fixed guide rail; the third cable chain mechanism is laid on the moving guide rail, and the mounting bracket (32) is set on the cable chain mechanism of the moving guide rail; the second motor drive component is installed at one end of the moving guide rail and connected to the cable chain mechanism on the moving guide rail, driving the cable chain mechanism to move the mounting bracket (32) on the moving guide rail; The two motor drive components receive the running instructions sent by the control console (5), drive the three drag chain mechanisms to move, drive the moving guide rail and the mounting support (32) to move to the designated position, and complete the positioning of the fine-tuning end effector (3).

3. The flexible assembly device for a composite planar truss structure according to claim 2, characterized in that: The fine-tuning end effector (3) includes: a positioning platform (31), a transition support (33), an electro-pneumatic component (34), and a guide rail (35), wherein: The guide rail (35) is vertically mounted on the mounting bracket (32), and the alignment platform (31) is mounted on the guide rail (35). The electro-pneumatic component (34) is mounted on the mounting bracket (32) and connected to the alignment platform (31). After receiving the air supply command sent by the control console (5), the electro-pneumatic component (34) controls the alignment platform (31) to move up and down on the guide rail (35). The adapter bracket (33) is fixed to the bottom of the alignment platform (31) and is used to clamp the flexible combination fixture (7).

4. The flexible assembly device for a composite planar truss structure according to claim 1, characterized in that: The flexible combination fixture (7) includes a joint positioning block and a beam positioning block, wherein: the joint positioning block is used to position and fix the joint part of the composite planar truss structure; the beam positioning block is used to position and fix the truss area of ​​the composite planar truss structure; Both the joint positioning block and the beam positioning block include: a magnetic base, a target ball seat, and a clamp head; specifically: The target ball holder is set on the edge of the upper surface of the magnetic base and is used to place the target ball of the laser tracker and to cooperate with the laser tracker (4) for positioning; the clamp head is detachably fixed to the upper end of the magnetic base.

5. The flexible assembly device for a composite planar truss structure according to claim 4, characterized in that: The clamp head of the joint positioning block is cylindrical and is fixed in place by fitting with the pre-drilled hole at the joint of the composite planar truss structure. The clamp head of the beam positioning block is box-shaped and is fixed to the beam of the composite planar truss structure by means of positioning pins.

6. The flexible assembly device for a composite planar truss structure according to claim 4, characterized in that: The flexible combination fixture (7) also includes standard pads; the standard pads are hollow rectangular blocks used to support the non-positioning areas of the composite planar truss structure.

7. The flexible assembly device for a composite planar truss structure according to claim 1, characterized in that: The control console (5) receives the calibration results of the laser tracker (4) on the assembly platform (1), forms the platform coordinate system of the assembly platform (1), converts the digital model of the composite planar truss structure into the platform coordinate system, generates the theoretical coordinates of the joint positioning block and the beam positioning block on the assembly platform, and decomposes them into the displacement of the two-axis moving mechanism (2) and the displacement of the fine-tuning end effector (3), sends the running command to the motor drive assembly of the two-axis moving mechanism (2), and drives the fine-tuning end effector (3) and the flexible combination fixture (7) to move into place initially; The control console (5) receives the measurement results of the laser tracker (4) on the position of the flexible combination fixture (7), calculates the error between the measurement results and the theoretical coordinates, and sends an air supply command to the electro-pneumatic component (34) of the fine-tuning end effector (3) to control the alignment platform (31) to move up and down on the guide rail (35) to adjust the position of the flexible combination fixture (7). The control console (5) also provides a visual operation interface.

8. A flexible assembly method for a composite planar truss structure, characterized in that... include: S1. Control console (5) reads the digital model of composite planar truss structure; S2, the laser tracker (4) calibrates the assembly platform (1); the control console (5) receives the calibration result of the laser tracker (4) on the assembly platform (1), forms the platform coordinate system of the assembly platform (1), and converts the digital model of the composite planar truss structure read into the platform coordinate system. S3. Control the operating console (5) to generate the theoretical coordinates of the joint positioning block and the beam positioning block in the platform coordinate system; S4. The control console (5) sends a running command to the motor drive assembly (9) of the two-axis moving mechanism (2), driving the fine-tuning end effector (3) and the flexible combination fixture (7) to move into place initially; S5. The laser tracker (4) measures the position of the flexible combination fixture (7) and generates the measurement results; S6. The control console (5) calculates the deviation between the measurement result and the theoretical coordinates, sends an air supply command to the electro-pneumatic component (34) of the fine-tuning end effector (3), and controls the alignment platform (31) of the fine-tuning end effector (3) to make fine adjustments until the flexible combination fixture (7) is adjusted to the theoretical position. S7. Place the composite planar truss structure on the flexible combination fixture (7); S8. The joints and beams of the composite planar truss structure are manually placed into the corresponding positions of the positioning blocks until all assembly parts are placed in place and fixed, thus completing the assembly of the composite planar truss structure.

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