CN102991724A - Butt-joint method for large-size parts of airplane by work space measuring and positioning system - Google Patents

Abstract

The invention provides a butt-joint method for large-size parts of an airplane by a work space measuring and positioning system. The work space measuring and positioning system is sufficiently used, i.e. a measuring target ball of a receiver in the work space measuring and positioning system is fixedly arranged on measurement key points, so that each key point can be simultaneously and timely measured in the process of butt jointing, each key point coordinate does not need to be sequentially measured after each adjustment, the butt-joint process of 0.1mm can be achieved, the butt-joint precision requirement can be completely met, and the work efficiency can be greatly improved.

Description

Utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking

Technical field

The invention belongs to industry spot large scale three-dimensional coordinate measurement technical field, particularly relate to a kind of method that Large Aircraft Components is docked accurately and fast.

Background technology

Traditional Large Aircraft Components automatic butt system mainly utilizes laser tracker that part pose is carried out measurement and positioning, and metrical information is sent to large parts to connected control system and posture adjustment integrated software system, calculate parts and dock needed adjustment amount, then data are passed to the positioning parts system, drive the rotation that position fixing system is carried out moving freely of X, Y, three directions of Z and X, Y, three directions of Z by servomotor, thereby realize the location of Large Aircraft Components, finish docking.

Traditional station-keeping mode need adopt laser tracker that the key point on the Large Aircraft Components is measured, i.e. position of the every movement of large parts all needs to remeasure these key points with the target ball, greatly reduces like this work efficiency.

Summary of the invention

The purpose of this invention is to provide and the present invention proposes a kind of method of utilizing working space measurement and positioning system to carry out Large Aircraft Components docking, can realize that multiple spot measures simultaneously, finish the full-automatic digital control of docking operation, greatly improved docking efficient.

Technical scheme of the present invention: utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, docking operation comprises following steps:

(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that measurement space is positioned at the best effort distance of Laser emission base station, and the laser encounter angle that send two Laser emission base stations is 60 °-90 °;

(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;

(3) choose several key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;

(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling and set landmark point, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;

(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location.The calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix

With a translation matrix

Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms.

,

By finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:

；

(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;

(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.

Beneficial effect of the present invention: the 3 D Coordinate Measuring System that 1. working space measurement and positioning system (workspace Measuring Position System) is a kind of full-automation, multi-task parallel processing, high precision, real-time is high, during large parts docking, the receptor target ball of native system is fixed on the measurement key point, in the process that achieves a butt joint each key point is carried out real-time simultaneously and measure, and need not after each the adjustment, all to measure successively each key point coordinate; 2. can reach the merging precision of 0.1mm, satisfy the merging precision demand fully, greatly improve work efficiency.

Description of drawings

Fig. 1 is large parts docking operation scheme drawing in the embodiment of the invention.

The 1-joint unit; The 2-movable part; The 3-target location; 4-Laser emission base station I; 5-Laser emission base station II; 6-measures target ball I; 7-measures target ball II; 8-measures target ball III; 9-measures target ball IV.

The specific embodiment

As shown in Figure 1, utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, docking operation comprises following steps:

(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that measurement space is positioned at the best effort distance of Laser emission base station, the laser encounter angle that send two Laser emission base stations is between 60 ° to 90 °, and its best effort distance is 6-15m;

(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;

(3) choose four key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;

(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;

(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location.The calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix

With a translation matrix

Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms.

,

By finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:

；

(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;

(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.

Claims (1)

1. utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, it is characterized in that docking operation comprises following steps:

(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that the laser encounter angle that sends two Laser emission base stations is between 60 ° to 90 °;

(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;

(3) choose several key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;

(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;

(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location, the calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix

With a translation matrix

Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms

, by finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:

(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;

(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.

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