公开(公告)号：US12054292B2

公开(公告)日：2024-08-06

申请号：US17861371

申请日：2022-07-11

Applicant: Airbus Operations S.L.

Inventor： Cesar Martin Blazquez ,  Carlos Flores Hernandez

IPC: B64F5/10 ,  B64C1/06

CPC classification number: B64F5/10 ,  B64C1/061 ,  B64C1/064

Abstract: A method for the assembly of frames in an aircraft shell, wherein the aircraft shell comprises a skin and a plurality of stringers co-cured with the skin, wherein the skin has a plurality of reference marks. Identifying the reference marks on the skin using a first robot with artificial vision, establishing a local reference for the positioning of each frame based on a reference mark, grabbing a frame using the first robot, establishing a relative position between the first robot and the frame based on the reference mark, positioning the frame on an inner side of the aircraft shell using the first robot, and with a second robot, drilling holes through the frame and skin, and attaching the frame to the skin with fasteners.