CN-121990174-A - Aircraft panel part assembly system and assembly method

CN121990174ACN 121990174 ACN121990174 ACN 121990174ACN-121990174-A

Abstract

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

Inventors

YANG ZHIYONG
XUE LEI
CHEN JIAXIANG
LU MENG
LIU HUAYING
XING HONGWEN

Assignees

中国商用飞机有限责任公司
上海飞机制造有限公司

Dates

Publication Date: 20260508
Application Date: 20260330

Claims (10)

1. An aircraft panel component assembly system, comprising: the device comprises a first guide rail assembly (1) and a second guide rail assembly (2) which extend along a first direction (X1), wherein the first guide rail assembly (1) and the second guide rail assembly (2) are arranged at intervals along a second direction (X2), the first direction (X1) is a horizontal direction, and the second direction (X2) and the first direction (X1) form an included angle; The wallboard assembly fixture (3) is arranged between the first guide rail assembly (1) and the second guide rail assembly (2), and the wallboard assembly fixture (3) extends along the first direction (X1) and is used for mounting a wallboard (10) to be assembled, and at least 3 first non-collinear characteristic points are arranged on the wallboard assembly fixture (3); The positioning robot (4) is arranged on the first guide rail assembly (1) and can move along the first direction (X1), the positioning robot (4) can be detachably connected with the clamping executing device (5) and can be coupled with the clamping executing device (5), and at least 3 second non-collinear characteristic points are arranged on the clamping executing device (5); The gluing robot (6) and the pre-connection robot (7) are both arranged on the second guide rail assembly (2) and can move along the first direction (X1), the gluing robot (6) is used for gluing the connecting part of the part to be assembled, and the pre-connection robot (7) is used for pre-connecting the part to be assembled and the wall plate (10) to be assembled; The laser tracker (8) is arranged on one side, away from the second guide rail assembly (2), of the first guide rail assembly (1) and is used for collecting the spatial position information of the first characteristic point and the spatial position information of the second characteristic point; The device comprises a positioning robot (4), a gluing robot (6), a pre-connection robot (7) and a laser tracker (8), wherein the positioning robot (4), the gluing robot (6) and the pre-connection robot (7) are respectively controlled by the controller, and the pose of the positioning robot (4) is controlled according to the spatial position information of a first characteristic point and the spatial position information of a second characteristic point acquired by the laser tracker (8) in the assembly process.
2. The aircraft panel component assembly system according to claim 1, the aircraft panel component assembly system is characterized by further comprising: The device comprises a first guide rail assembly (1), a second guide rail assembly (2), a plurality of storage racks (9), a plurality of clamping executing devices (5) and a plurality of clamping executing devices (5), wherein the storage racks (9) are arranged between the first guide rail assembly (1) and the second guide rail assembly (2) and/or are arranged on one side, away from the second guide rail assembly (2), of the first guide rail assembly (1), the storage racks (9) are used for respectively storing different types of components to be assembled and the clamping executing devices (5) corresponding to the different types of components to be assembled, at least 3 second characteristic points which are not collinear are arranged on the clamping executing devices (5), and the clamping executing devices (5) can be detachably arranged at the executing end of the positioning robot (4) and can be coupled with the positioning robot (4).
3. Aircraft panel component assembly system according to claim 1, wherein the panel assembly fixture (3) comprises: the support frame body (31) is arranged between the first guide rail assembly (1) and the second guide rail assembly (2); The plurality of appearance clamping plates (32) are arranged on the supporting frame body (31) at intervals along the first direction (X1), the appearance clamping plates (32) are of arc-shaped structures, the bending curvature of the appearance clamping plates (32) is the same as that of the wallboard (10) to be assembled, and the wallboard (10) to be assembled is detachably arranged on one side, away from the second guide rail assembly (2), of the appearance clamping plates (32); The vacuum chuck (33) is arranged on the appearance clamping plate (32) and can adsorb the wallboard (10) to be assembled.
4. An aircraft panel component assembly system according to claim 3, wherein a panel drive motor (34) is mounted at each of the two ends of the profile panel (32), the two ends of the profile panel (32) are in driving connection with the support frame (31) via the panel drive motor (34), respectively, and the panel drive motor (34) is capable of driving the profile panel (32) to move on the support frame (31) in the first direction (X1).
5. Aircraft panel component assembly system according to claim 1, characterized in that the clamping actuator (5) comprises: a mounting plate (51) for providing a mounting location; The clamping executing device (5) can be detachably arranged at the executing end of the positioning robot (4) through the quick-change chuck (52); The clamping assembly (53) and the jacking assembly (54) are arranged on one side, away from the quick-change chuck (52), of the mounting plate (51), the clamping assembly (53) is used for clamping the part to be assembled, and the jacking assembly (54) is used for pushing the part to be assembled towards the direction away from the mounting plate (51) so as to enable the part to be assembled to be abutted against the wall plate (10) to be assembled.
6. The aircraft panel component assembly system according to any one of claims 1 to 5, wherein the number of positioning robots (4) is 2, the 2 positioning robots (4) are arranged on the first guide rail assembly (1) at intervals along the first direction (X1), the 2 positioning robots (4) are coupled with the controller assembly, and the controller assembly can synchronously control the working states and the postures of the 2 positioning robots (4).
7. An aircraft panel component assembly method, which is applied to the aircraft panel component assembly system according to any one of claims 1 to 6, and comprises the following steps: Step S100, installing a wallboard (10) to be assembled on the wallboard assembling tool (3); Step S200, the positioning robot (4) moves the corresponding part to be assembled to a gluing station through the clamping executing device (5), and the gluing robot (6) glues the part to be assembled; step S300, the laser tracker (8) collects the space position information of a plurality of first characteristic points, and the controller component establishes an assembly coordinate system; Step S400, the laser tracker (8) collects the space position information of a plurality of second characteristic points, and the controller component establishes a tool coordinate system; step S500, the controller component calculates pose deviation according to the assembly coordinate system and the tool coordinate system, judges whether the pose deviation is larger than 0.1mm, adjusts the pose of the positioning robot (4) according to the pose deviation if the pose deviation is larger than 0.1mm, and returns to step S400; and S600, performing pre-connection treatment on the parts to be assembled and the wall plates (10) to be assembled by using the pre-connection robot (7).
8. The aircraft panel component assembly method according to claim 7, wherein step S300 comprises: Step S310, importing a digital model of the wallboard assembly fixture (3) into three-dimensional software to obtain a theoretical point set; Step S320, the laser tracker (8) collects the space position information of a plurality of first characteristic points to obtain an actual measurement point set; and step S330, establishing an assembly coordinate system according to the actual measurement point set and the theoretical point set.
9. The aircraft panel component assembly method according to claim 8, wherein step S330 comprises: step S331, carrying out matching calculation on the actual measurement point set and the theoretical point set by utilizing a best fitting algorithm; Step S332, solving a space coordinate transformation matrix, wherein the space coordinate transformation matrix comprises a translation vector and a rotation matrix; step S333, using the spatial coordinate transformation matrix, fitting the measurement coordinate system of the laser tracker (8) to the three-dimensional software theoretical design coordinate system in a registration manner, thereby establishing the assembly coordinate system.
10. The aircraft panel component assembly method according to claim 7, wherein the aircraft panel component assembly system further comprises a plurality of storage racks (9), a plurality of the storage racks (9) for storing the components to be assembled of different types, respectively, and the clamping actuators (5) corresponding to the components to be assembled of different types; the aircraft panel component assembly method further comprises: step S700, the clamping execution device (5) releases the clamping of the parts to be assembled, selects the parts to be assembled of the same type, and repeats the steps S200 to S600; Or alternatively, the first and second heat exchangers may be, The clamping executing device (5) releases the clamping of the component to be assembled, replaces the clamping executing device (5) with a different type, selects the corresponding type of the component to be assembled, and repeats the steps S200 to S600.

Description

Aircraft panel part assembly system and assembly method Technical Field The invention relates to the technical field of aircraft part assembly, in particular to an aircraft wallboard part assembly system and an assembly method. Background In the whole production process of civil airliners, the main links of part manufacture, component assembly, fuselage butt joint, system installation, interior integration, final assembly debugging, pilot delivery and the like are generally included. The assembly of the components is a key stage of starting up and down, and the assembly of the aircraft panel components is a core assembly link with more working procedures, high precision requirements and complex operation flow in the assembly of the components. In the production process of civil airliners, preassembling the wallboard parts usually comprises a plurality of procedures such as gluing, positioning, pre-connection and the like, and the final appearance precision, the connection strength and the pneumatic appearance and the service life of the wallboard are directly influenced. At present, domestic aviation enterprises mainly adopt an operation mode of manually matching a large number of special tool clamps in the preassembling stage of wallboard parts. The procedures of gluing, positioning, compacting, pre-connecting and the like are highly dependent on manual experience, the overall operation efficiency is low, and the efficiency requirement of mass manufacturing of the aircraft is difficult to meet. Meanwhile, the consistency of manual operation is poor, the glue coating thickness, the glue layer uniformity and the part positioning accuracy are difficult to guarantee stably, the problems of positioning deviation, uneven attaching gap, glue layer defects and the like are easy to occur, and the assembly quality and the structural reliability of the wallboard are seriously affected. In addition, in the manual assembly process, the tool is required to be frequently lifted and transported, so that the production preparation time and the manufacturing cost are increased, and a large potential safety hazard exists. Accordingly, there is a need for an aircraft panel component assembly system and method that addresses the above-identified issues. Disclosure of Invention The invention aims to provide an aircraft panel part assembly system and an assembly method, which improve the assembly efficiency and the assembly precision of aircraft panel parts and improve the safety in the assembly process. To achieve the purpose, the invention adopts the following technical scheme: In one aspect, the invention provides an aircraft panel component assembly system comprising a first guide rail assembly and a second guide rail assembly extending along a first direction, wherein the first guide rail assembly and the second guide rail assembly are arranged at intervals along a second direction, the first direction is horizontal, the second direction is arranged at an included angle with the first direction, a panel assembly fixture is arranged between the first guide rail assembly and the second guide rail assembly, the panel assembly fixture extends along the first direction and is used for installing a panel to be assembled, the panel assembly fixture is provided with at least 3 first feature points which are not collinear, a positioning robot is arranged on the first guide rail assembly and can move along the first direction, the positioning robot can be detachably connected with a clamping executing device, the clamping executing device is provided with at least 3 second feature points which are not collinear, a glue coating robot and a pre-connecting robot are arranged between the first guide rail assembly and the second guide rail assembly, the panel assembly fixture extends along the first direction and is used for installing the panel to be assembled, the panel assembly robot is provided with at least 3 first feature points which are not collinear, the positioning robot is arranged on the first guide rail assembly fixture can move along the first direction, the positioning robot can be detachably connected with the clamping executing device, the positioning robot can be coupled with the clamping executing device, the positioning robot is arranged on the clamping executing device, the clamping executing device is provided with the clamping device, the clamping device is provided with at least 3 second feature points which is arranged on the clamping device, and is used for acquiring the position of the first feature point, and is used for respectively, and the first position and is used for connecting the first position and the part and is arranged on the first position and far from the first position and the machine And the working states of the gluing robot and the pre-connection robot are controlled according to the spatial position information of the first characteristic point and the spatial position information of the seco