WO2022166066A1 - Accurate adjustment and positioning assembly system and method for aircraft canard wings - Google Patents
Accurate adjustment and positioning assembly system and method for aircraft canard wings Download PDFInfo
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- WO2022166066A1 WO2022166066A1 PCT/CN2021/099733 CN2021099733W WO2022166066A1 WO 2022166066 A1 WO2022166066 A1 WO 2022166066A1 CN 2021099733 W CN2021099733 W CN 2021099733W WO 2022166066 A1 WO2022166066 A1 WO 2022166066A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- the invention belongs to the technical field of aircraft canards, and more particularly relates to a system and method for precise adjustment, positioning and assembly of aircraft canards.
- the canard also known as the front wing, is the name of an aircraft configuration.
- the feature of this configuration is that the horizontal stabilizer is placed in front of the main wing, and the horizontal stabilizer is generally installed at the back, called the tail. This configuration is used.
- the advantage of this method is that a vortex can be generated above the main wing, which can increase the stall angle of attack.
- the present invention proposes a precise adjustment and positioning assembly system and method for an aircraft canard, which can replace manual installation, quickly adjust the canard assembly system to an aligned state, and achieve high-precision installation The process ensures the installation quality and improves the installation efficiency.
- a precise adjustment and positioning assembly system for an aircraft canard comprising: a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor, a force sensor and a processing module;
- the laser ranging sensor is located just below the inner self-aligning bearing and right or left of the vertical plane of the inner self-aligning bearing.
- the distance between the canard assembly system and the inner self-aligning bearing measured by the laser ranging sensor is
- the relative distance signal output end is connected with the processing module;
- the processing module is used to obtain the radius of the canard shaft according to the relative distance between the canard assembly system and the inner self-aligning bearing obtained by each laser ranging sensor, and then obtain the position of the vertical plane where the center of the front end of the canard shaft is located.
- the PSD position-sensitive detector is located on the surface of the aircraft, and the output end of the displacement signal of the laser detected by the PSD position-sensitive detector in the X-Y direction on the PSD position-sensitive detector is connected to the processing module to ensure the canard wing.
- the axis of the assembly system is consistent with the axis of the inner self-aligning bearing;
- the CCD image sensor is located around the inner self-aligning bearing of the aircraft, and monitors in real time the position of the canard shaft relative to the inner self-aligning bearing during the installation process of the canard, and the position of the canard shaft of the CCD image sensor relative to the inner self-aligning bearing.
- the image signal is connected with the processing module;
- the force sensor is located in the canard wing assembly system, and the contact force signal of the canard wing assembly system detected by the force sensor is connected to the processing module.
- a protective casing is provided outside the PSD position sensitive detector.
- the information acquisition module is provided with a dustproof film.
- a method for accurately adjusting and positioning an aircraft canard comprising:
- the inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined.
- the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and three laser ranging sensors are installed at the designated position directly below the inner self-aligning bearing.
- the distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L;
- the three laser ranging sensors on the horizontal plane can also act on the front end of the canard shaft.
- the laser ranging sensor in the middle is located at the lowest point in the vertical direction of the canard axis. According to geometric knowledge, knowing any three points on the canard axis circle can determine the position of the center of the circle.
- the chord length on the circle can be calculated from the value of the former, and then according to the similarity of the triangles, the two right triangles are similar triangles, the radius of the canard shaft can be calculated, and the center position of the inner self-aligning bearing and the laser ranging sensor in the middle can be obtained.
- the mode of the multiple measurement data of the three laser ranging sensors on the horizontal plane is used to completely determine the position of the vertical plane where the center of the front end of the canard shaft is located;
- the inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined, because the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and the distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L , After knowing the position of the vertical plane of the front end of the canard shaft, the height difference between the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane can be calculated.
- the height difference of the circle center in the vertical plane is fed back to the motion control system, and the height difference is compensated by the six-axis adjustment platform, and the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane;
- the three laser ranging sensors installed in the vertical plane of the inner self-aligning bearing are used to measure the center of the front end of the canard shaft and the center of the inner self-aligning bearing.
- the horizontal difference between the center of the center bearing on the horizontal plane, the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane is fed back to the motion control system, and then the six-axis adjustment platform compensates for the horizontal difference.
- the center height of the inner self-aligning bearing is coincident.
- the middle laser ranging sensor and the center of the inner self-aligning bearing are located on the same vertical plane.
- the laser ranging sensor is reusable.
- a multi-axis laser alignment system is used to measure the relative distance between the canard assembly system and the inner self-aligning bearing, including the use of a laser ranging sensor and a PSD position sensitive detector.
- a laser ranging sensor and a PSD position sensitive detector To ensure that the axis of the canard assembly system and the axis of the inner self-aligning bearing are roughly consistent.
- the coarse adjustment and alignment adjustment motion trajectory is planned to make the canard assembly system move to a relatively aligned position.
- sensors such as laser ranging sensors, CCD image sensors and force sensors, the status information of the aircraft installation components can be obtained in real time, and the canard assembly system can be quickly positioned.
- the assembly system is quickly adjusted to the alignment state, and the high-precision installation process is realized, which ensures the installation quality and improves the installation efficiency.
- the assembly system and method can also be extended to other high-precision assembly of shaft holes, providing a solution for high-precision assembly in other fields.
- FIG. 1 is a schematic diagram of a distance provided by an embodiment of the present invention.
- FIG. 2 is a schematic diagram of an angle provided by an embodiment of the present invention.
- an aircraft canard precise adjustment and positioning assembly system the canard assembly system includes a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor and a force sensor, and the PSD position sensitive detector is externally set There is a protective case to prevent damage to the PSD position-sensitive detector, and the information acquisition module is provided with a dust-proof film to prevent dust from entering the interior of the information acquisition module.
- the laser ranging sensor is located directly below the inner self-aligning bearing and on the left (or right) side of the vertical plane of the inner self-aligning bearing;
- the central axis of the inner self-aligning bearing is calibrated on the aircraft shell, and several PSD position-sensitive detectors are mounted on the surface of the aircraft.
- the specific installation position can be adjusted according to the actual situation of the aircraft, and it is installed in a relatively fixed position on the aircraft.
- each PSD position-sensitive detector may not be in the same plane. As long as the PSD position-sensitive detector can receive the laser beam, the center of the circle formed by the laser and all PSD position-sensitive detectors can be obtained, that is, the axis of the inner self-aligning bearing. .
- the PSD position-sensitive detector on the aircraft fuselage can detect the displacement of the laser emitted by the laser transmitter in the X-Y direction on the PSD position-sensitive detector. Adjust the initial installation position of the canard wing assembly system and the initial position of the canard wing according to the displacement to ensure that the axis of the canard wing assembly system and the axis of the inner self-aligning bearing are consistent.
- the CCD image sensor is located at a fixed position around the inner self-aligning bearing of the aircraft, and monitors the position of the canard shaft relative to the inner self-aligning bearing in real time during the installation process of the canard;
- the information measured by the CCD image sensor is compared and analyzed, which can improve the alignment accuracy;
- the force sensor is located in the canard assembly system. Its purpose is to detect the contact force. Once the force reaches the limit value, the whole system will stop working to prevent damage to the canard and the fuselage.
- a method for accurately adjusting and positioning an aircraft canard includes the following steps:
- the inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined.
- the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system.
- square (vertical direction) are installed with three laser ranging sensors, wherein the laser ranging sensor in the middle and the center of the inner self-aligning bearing are located on the same vertical plane, and the distance between the center of the circle and the laser ranging sensor is L;
- the three laser ranging sensors on the horizontal plane can also act on the front end of the canard shaft.
- the laser ranging sensor in the middle is located at the lowest point in the vertical direction of the canard shaft, and the three laser ranging sensors on the horizontal plane measure the distances from the front end of the canard shaft to the circumferential surface of L1 and L2 respectively.
- L3 the distance between the laser ranging sensors is d.
- the position of the center of the circle can be determined by knowing any three points on the circle. According to the Pythagorean theorem and the values of the two, the chord length on the circle can be calculated.
- the distance L from the center position of the front end of the canard shaft to the laser ranging sensor in the middle is (R+L2) 1 , that is, it is regarded as the first time to determine the center position of the front end of the canard shaft, and the laser ranging sensor can be reused to obtain Multiple data (R+L2) 1 , (R+L2) 2 ,...(R+L2) i , the mode (or average) of the data measured multiple times by the three laser ranging sensors on the horizontal plane can be Considering that the position of the vertical plane where the center of the front end of the canard shaft is located is completely determined, the distance formula between the center position of the front end of the canard shaft and the laser ranging sensor in the middle is:
- R+L2 [(R+L2) 1 +(R+L2) 2 +...+(R+L2) i ]/i (4)
- the inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined, because the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and the distance between the center of the inner self-aligning bearing and the laser ranging module in the middle is L, and then After knowing the position of the center of the front end of the canard shaft, the height difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane (L-(R+L2)) G is:
- the motion control system is an existing control system
- the six-axis adjustment platform can adopt the existing WIN06-043 high-precision six-degree-of-freedom platform, which is not limited in the embodiment of the present invention.
- the horizontal difference L-(R+L2) between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane is fed back to the motion control system, and then the six-axis adjustment platform compensates for the horizontal difference, so that the center of the front end of the canard shaft and the The center of the inner self-aligning bearing is highly coincident, and the precise adjustment can be completed at this point.
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Abstract
An accurate adjustment and positioning assembly system for aircraft canard wings, comprising a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor and a force sensor. Before canard wings are placed on the canard wing assembly system, a multi-axis laser collimation system is used to measure the relative distance between the canard wing assembly system and an inner self-aligning bearing; various sensors such as a laser ranging sensor, a CCD image sensor, a force sensor are used to acquire state information of aircraft installation components in real time, and the canard wing assembly system can be quickly positioned; a high-precision canard wing assembly system is used to replace manual installation, and the canard wing assembly system is quickly adjusted to an alignment state, and a high-precision installation process is achieved, ensuring the installation quality, and improving the installation efficiency. Further disclosed is an accurate adjustment and positioning assembly method for aircraft canard wings.
Description
本发明属于飞机鸭翼技术领域，更具体地，涉及一种飞机鸭翼精准调节定位装配系统及方法。The invention belongs to the technical field of aircraft canards, and more particularly relates to a system and method for precise adjustment, positioning and assembly of aircraft canards.
鸭翼又称前置翼，是一种飞行器配置的称呼，这种配置的特点是将水平稳定面放在主翼前面，而一般是将水平稳定面装在后面，称为尾翼，使用这种配置方式的优点是可使主翼上方产生涡流，可提高失速攻角。The canard, also known as the front wing, is the name of an aircraft configuration. The feature of this configuration is that the horizontal stabilizer is placed in front of the main wing, and the horizontal stabilizer is generally installed at the back, called the tail. This configuration is used. The advantage of this method is that a vortex can be generated above the main wing, which can increase the stall angle of attack.
目前，现有的飞机鸭翼安装仍存在不足之处，现有的飞机鸭翼安装大多通过人工进行安装，在人工进行安装时，对准速度较慢且时间较长，进而降低了工作效率，从而降低了飞机鸭翼安装的质量。At present, there are still shortcomings in the existing aircraft canard installation. Most of the existing aircraft canard installations are manually installed. During manual installation, the alignment speed is slow and the time is long, thereby reducing the work efficiency. Thereby reducing the quality of the aircraft canard installation.
发明内容SUMMARY OF THE INVENTION
针对现有技术的以上缺陷或改进需求，本发明提出了一种飞机鸭翼精准调节定位装配系统及方法，可以替代人工安装，把鸭翼装配系统迅速调整到对准状态，实现高精度的安装过程，保证了安装质量，提高了安装效率。In view of the above defects or improvement needs of the prior art, the present invention proposes a precise adjustment and positioning assembly system and method for an aircraft canard, which can replace manual installation, quickly adjust the canard assembly system to an aligned state, and achieve high-precision installation The process ensures the installation quality and improves the installation efficiency.
为实现上述目的，按照本发明的一个方面，提供了一种飞机鸭翼精准调节定位装配系统，包括：激光测距传感器、PSD位置敏感探测器、CCD图像传感器、力传感器及处理模块；In order to achieve the above object, according to one aspect of the present invention, a precise adjustment and positioning assembly system for an aircraft canard is provided, comprising: a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor, a force sensor and a processing module;
所述激光测距传感器位于内调心轴承的正下方以及内调心轴承的竖直平面的正左或正右方，所述激光测距传感器测量得到的鸭翼装配系统与内调心轴承的相对距离信号输出端与所述处理模块连接；The laser ranging sensor is located just below the inner self-aligning bearing and right or left of the vertical plane of the inner self-aligning bearing. The distance between the canard assembly system and the inner self-aligning bearing measured by the laser ranging sensor is The relative distance signal output end is connected with the processing module;
所述处理模块，用于根据各激光测距传感器得到的鸭翼装配系统与内 调心轴承的相对距离，得到鸭翼轴半径，进而得出鸭翼轴前端圆心所在竖直平面的位置，能够计算出鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差，以通过对所述高度差进行补偿将鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面；在鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面之后，通过在内调心轴承的竖直平面方向安装的激光测距传感器测量出鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差，进而通过对所述水平差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心高度重合；The processing module is used to obtain the radius of the canard shaft according to the relative distance between the canard assembly system and the inner self-aligning bearing obtained by each laser ranging sensor, and then obtain the position of the vertical plane where the center of the front end of the canard shaft is located. Calculate the height difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane, so as to adjust the center of the front end of the canard shaft and the center of the inner self-aligning bearing to the same horizontal plane by compensating the height difference; After the center of the front end of the shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane, the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the horizontal plane is measured by the laser ranging sensor installed in the vertical plane of the inner self-aligning bearing. , and then by compensating for the horizontal difference, the height of the center of the front end of the canard shaft and the center of the inner self-aligning bearing are coincident;
所述PSD位置敏感探测器位于飞机表面，所述PSD位置敏感探测器检测的激光在所述PSD位置敏感探测器上的X-Y方向上的位移信号输出端与所述处理模块连接，以保证鸭翼装配系统的轴线和内调心轴承的轴线保持一致；The PSD position-sensitive detector is located on the surface of the aircraft, and the output end of the displacement signal of the laser detected by the PSD position-sensitive detector in the X-Y direction on the PSD position-sensitive detector is connected to the processing module to ensure the canard wing. The axis of the assembly system is consistent with the axis of the inner self-aligning bearing;
所述CCD图像传感器位于飞机内调心轴承周围，实时监测鸭翼在安装过程中，鸭翼轴相对于内调心轴承的位置，所述CCD图像传感器的鸭翼轴相对于内调心轴承位置的图像信号与所述处理模块连接；The CCD image sensor is located around the inner self-aligning bearing of the aircraft, and monitors in real time the position of the canard shaft relative to the inner self-aligning bearing during the installation process of the canard, and the position of the canard shaft of the CCD image sensor relative to the inner self-aligning bearing. The image signal is connected with the processing module;
所述力传感器位于鸭翼装配系统之中，所述力传感器检测的鸭翼装配系统的接触力信号与所述处理模块连接。The force sensor is located in the canard wing assembly system, and the contact force signal of the canard wing assembly system detected by the force sensor is connected to the processing module.
在一些可选的实施方案中，所述PSD位置敏感探测器外部设置有防护壳。In some optional embodiments, a protective casing is provided outside the PSD position sensitive detector.
在一些可选的实施方案中，所述信息获取模块设置有防尘膜。In some optional embodiments, the information acquisition module is provided with a dustproof film.
按照本发明的另一方面，提供了一种飞机鸭翼精准调节定位装配方法，包括：According to another aspect of the present invention, a method for accurately adjusting and positioning an aircraft canard is provided, comprising:
(1)内调心轴承固定于飞机机身内部，其位置已经被确定，以内调心轴承圆心为笛卡尔坐标系的原点，在内调心轴承正下方指定位置安装有三个激光测距传感器，内调心轴承圆心距离中间的激光测距传感器的距离为L；(1) The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined. The center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and three laser ranging sensors are installed at the designated position directly below the inner self-aligning bearing. The distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L;
(2)鸭翼轴前端即将碰到内调心轴承之时，水平面的三个激光测距传感器亦可作用于鸭翼轴前端，由于鸭翼轴圆周最低点和内调心轴承圆周最 低点保持在同一竖直平面，此时中间的激光测距传感器位于鸭翼轴竖直方向最低点处，根据几何知识，知道鸭翼轴圆上任意三点即可确定圆心位置，根据勾股定理及二者的数值便可计算出在圆上的弦长，再根据三角形的相似性，两个直角三角形为相似三角形，算得鸭翼轴半径，得出内调心轴承圆心位置与中间的激光测距传感器的距离，作为第一次确定鸭翼轴前端的圆心位置，水平面的三个激光测距传感器多次测量数据的众数作为完全确定鸭翼轴前端圆心所在竖直平面的位置；(2) When the front end of the canard shaft is about to touch the inner self-aligning bearing, the three laser ranging sensors on the horizontal plane can also act on the front end of the canard shaft. In the same vertical plane, the laser ranging sensor in the middle is located at the lowest point in the vertical direction of the canard axis. According to geometric knowledge, knowing any three points on the canard axis circle can determine the position of the center of the circle. According to the Pythagorean theorem and the second The chord length on the circle can be calculated from the value of the former, and then according to the similarity of the triangles, the two right triangles are similar triangles, the radius of the canard shaft can be calculated, and the center position of the inner self-aligning bearing and the laser ranging sensor in the middle can be obtained. As the first time to determine the center position of the front end of the canard shaft, the mode of the multiple measurement data of the three laser ranging sensors on the horizontal plane is used to completely determine the position of the vertical plane where the center of the front end of the canard shaft is located;
(3)内调心轴承固定于飞机机身内部，其位置已经被确定，因为内调心轴承圆心为笛卡尔坐标系的原点，内调心轴承圆心距离中间的激光测距传感器的距离为L，再得知鸭翼轴前端圆心所在竖直平面的位置后，能够计算出鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差，将鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差反馈给运动控制系统，再由六轴调节平台对高度差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面；(3) The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined, because the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and the distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L , After knowing the position of the vertical plane of the front end of the canard shaft, the height difference between the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane can be calculated. The height difference of the circle center in the vertical plane is fed back to the motion control system, and the height difference is compensated by the six-axis adjustment platform, and the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane;
(4)在鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面之后，通过在内调心轴承的竖直平面方向安装的三个激光测距传感器测量出鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差，鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差反馈给运动控制系统，再由六轴调节平台对水平差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心高度重合。(4) After the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane, the three laser ranging sensors installed in the vertical plane of the inner self-aligning bearing are used to measure the center of the front end of the canard shaft and the center of the inner self-aligning bearing. The horizontal difference between the center of the center bearing on the horizontal plane, the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane is fed back to the motion control system, and then the six-axis adjustment platform compensates for the horizontal difference. The center height of the inner self-aligning bearing is coincident.
在一些可选的实施方案中，所述中间的激光测距传感器与内调心轴承圆心位于同一竖直面上。In some optional embodiments, the middle laser ranging sensor and the center of the inner self-aligning bearing are located on the same vertical plane.
在一些可选的实施方案中，所述激光测距传感器可重复使用。In some alternative embodiments, the laser ranging sensor is reusable.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，能够取得下列有益效果：In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:
本发明中，在鸭翼放在鸭翼装配系统上之前，使用多轴激光准直系统测量鸭翼装配系统与内调心轴承的相对距离，其中包括利用激光测距传感 器与PSD位置敏感探测器来保证鸭翼装配系统的轴线和内调心轴承的轴线大致保持一致。根据总体系统的运动学模型，规划粗调对准调节运动轨迹，使鸭翼装配系统运动到相对准直的位置。使用激光测距传感器、CCD图像传感器和力传感器等多种传感器，实时获取飞机安装部件的状态信息，并可迅速定位鸭翼装配系统，使用高精度的鸭翼装配系统替代人工安装，把鸭翼装配系统迅速调整到对准状态，以及实现高精度的安装过程，保证了安装质量，提高了安装效率。该装配系统及方法还可推广至其余轴孔高精度装配之中，为其他领域的高精度装配提供了解决方案。In the present invention, before the canard is placed on the canard assembly system, a multi-axis laser alignment system is used to measure the relative distance between the canard assembly system and the inner self-aligning bearing, including the use of a laser ranging sensor and a PSD position sensitive detector. To ensure that the axis of the canard assembly system and the axis of the inner self-aligning bearing are roughly consistent. According to the kinematics model of the overall system, the coarse adjustment and alignment adjustment motion trajectory is planned to make the canard assembly system move to a relatively aligned position. Using a variety of sensors such as laser ranging sensors, CCD image sensors and force sensors, the status information of the aircraft installation components can be obtained in real time, and the canard assembly system can be quickly positioned. The assembly system is quickly adjusted to the alignment state, and the high-precision installation process is realized, which ensures the installation quality and improves the installation efficiency. The assembly system and method can also be extended to other high-precision assembly of shaft holes, providing a solution for high-precision assembly in other fields.
图1是本发明实施例提供的一种距离的示意图；1 is a schematic diagram of a distance provided by an embodiment of the present invention;
图2是本发明实施例提供的一种角度的示意图。FIG. 2 is a schematic diagram of an angle provided by an embodiment of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.
实施例一Example 1
如图1和图2所示，一种飞机鸭翼精准调节定位装配系统，鸭翼装配系统包括激光测距传感器、PSD位置敏感探测器、CCD图像传感器和力传感器，PSD位置敏感探测器外部设置有防护壳，防止PSD位置敏感探测器损坏，信息获取模块设置有防尘膜，防止灰尘进入信息获取模块内部。As shown in Figure 1 and Figure 2, an aircraft canard precise adjustment and positioning assembly system, the canard assembly system includes a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor and a force sensor, and the PSD position sensitive detector is externally set There is a protective case to prevent damage to the PSD position-sensitive detector, and the information acquisition module is provided with a dust-proof film to prevent dust from entering the interior of the information acquisition module.
其中，激光测距传感器位于内调心轴承的正下方以及内调心轴承的竖直平面正左(或正右)方；Among them, the laser ranging sensor is located directly below the inner self-aligning bearing and on the left (or right) side of the vertical plane of the inner self-aligning bearing;
在飞机外壳上标定内调心轴承的中心轴，在飞机的表面贴装若干个PSD位置敏感探测器，其具体的安装位置可以根据飞机的实际情况进行调 整，安装在飞机上相对固定的位置。而且各PSD位置敏感探测器可以不处于一个平面，只要保证PSD位置敏感探测器能够接收到激光束就能得到激光与所有PSD位置敏感探测器所形成圆的圆心，即内调心轴承的轴心。The central axis of the inner self-aligning bearing is calibrated on the aircraft shell, and several PSD position-sensitive detectors are mounted on the surface of the aircraft. The specific installation position can be adjusted according to the actual situation of the aircraft, and it is installed in a relatively fixed position on the aircraft. Moreover, each PSD position-sensitive detector may not be in the same plane. As long as the PSD position-sensitive detector can receive the laser beam, the center of the circle formed by the laser and all PSD position-sensitive detectors can be obtained, that is, the axis of the inner self-aligning bearing. .
其中，鸭翼装配系统上安装有若干个激光发射器，而飞机机身上的PSD位置敏感探测器可以检测到激光发射器发射的激光在该PSD位置敏感探测器上的X-Y方向上的位移。根据该位移调整鸭翼装配系统的初始安装位置，以及鸭翼的初始位置，保证鸭翼装配系统的轴线和内调心轴承的轴线保持一致。Among them, several laser transmitters are installed on the canard assembly system, and the PSD position-sensitive detector on the aircraft fuselage can detect the displacement of the laser emitted by the laser transmitter in the X-Y direction on the PSD position-sensitive detector. Adjust the initial installation position of the canard wing assembly system and the initial position of the canard wing according to the displacement to ensure that the axis of the canard wing assembly system and the axis of the inner self-aligning bearing are consistent.
CCD图像传感器位于飞机内调心轴承周围的固定位置，实时监测鸭翼在安装过程中，鸭翼轴相对于内调心轴承的位置；激光测距传感器亦有此作用，将激光测距传感器与CCD图像传感器测得的信息进行对比分析，能提高对准精度；The CCD image sensor is located at a fixed position around the inner self-aligning bearing of the aircraft, and monitors the position of the canard shaft relative to the inner self-aligning bearing in real time during the installation process of the canard; The information measured by the CCD image sensor is compared and analyzed, which can improve the alignment accuracy;
力传感器位于鸭翼装配系统之中，目的是检测出接触力，一旦力达到了极限值，整个系统即会停止运转，防止损坏鸭翼及机身。The force sensor is located in the canard assembly system. Its purpose is to detect the contact force. Once the force reaches the limit value, the whole system will stop working to prevent damage to the canard and the fuselage.
实施例二Embodiment 2
如图1和图2所示，一种飞机鸭翼精准调节定位装配方法，方法包括如下步骤：As shown in Figure 1 and Figure 2, a method for accurately adjusting and positioning an aircraft canard includes the following steps:
S1：内调心轴承固定于飞机机身内部，其位置已经被确定，以内调心轴承圆心为笛卡尔坐标系的原点，在内调心轴承正下方(水平方向)以及正左(或正右)方(竖直方向)均安装三个激光测距传感器，其中，中间的激光测距传感器与内调心轴承圆心位于同一竖直面上，圆心距离激光测距传感器距离为L；S1: The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined. The center of the inner self-aligning bearing is the origin of the Cartesian coordinate system. ) square (vertical direction) are installed with three laser ranging sensors, wherein the laser ranging sensor in the middle and the center of the inner self-aligning bearing are located on the same vertical plane, and the distance between the center of the circle and the laser ranging sensor is L;
S2：鸭翼轴前端即将碰到内调心轴承之时，水平面的三个激光测距传感器亦可作用于鸭翼轴前端，由于鸭翼轴圆周最低点和内调心轴承圆周最低点保持在同一竖直平面，此时中间的激光测距传感器位于鸭翼轴竖直方向最低点处，水平面的三个激光测距传感器测得自身离鸭翼轴前端圆周面 上的距离分别为L1,L2,L3，激光测距传感器之间的距离均为d，根据几何知识，知道圆上任意三点即可确定圆心位置，根据勾股定理及二者的数值便可计算出在圆上的弦长m：S2: When the front end of the canard shaft is about to touch the inner self-aligning bearing, the three laser ranging sensors on the horizontal plane can also act on the front end of the canard shaft. In the same vertical plane, the laser ranging sensor in the middle is located at the lowest point in the vertical direction of the canard shaft, and the three laser ranging sensors on the horizontal plane measure the distances from the front end of the canard shaft to the circumferential surface of L1 and L2 respectively. , L3, the distance between the laser ranging sensors is d. According to geometric knowledge, the position of the center of the circle can be determined by knowing any three points on the circle. According to the Pythagorean theorem and the values of the two, the chord length on the circle can be calculated. m:
再根据三角形的相似性，其中∠1+∠3＝90°，∠1+∠2＝90°，而∠3+∠4＝90°，所以∠2＝∠3，∠1＝∠4，两个直角三角形为相似三角形，有以下比例关系：Then according to the similarity of triangles, where ∠1+∠3=90°, ∠1+∠2=90°, and ∠3+∠4=90°, so ∠2=∠3, ∠1=∠4, two A right-angled triangle is a similar triangle with the following proportional relationship:
(m/2)/R＝(L1-L2)/m (2)(m/2)/R=(L1-L2)/m (2)
将公式(1)
代入公式(2)即可算得鸭翼轴半径R：
Put formula (1) Substitute into formula (2) to calculate the radius R of the canard shaft:
则鸭翼轴前端的圆心位置距离中间的激光测距传感器的距离L为(R+L2)
1，即视为第一次确定鸭翼轴前端的圆心位置，激光测距传感器可以重复使用，得到多个数据(R+L2)
1，(R+L2)
2，...(R+L2)
i，水平面的三个激光测距传感器多次测量数据的众数(或者取平均数)即可视为完全确定鸭翼轴前端圆心所在竖直平面的位置，鸭翼轴前端圆心位置距离中间的激光测距传感器的距离公式为：
Then the distance L from the center position of the front end of the canard shaft to the laser ranging sensor in the middle is (R+L2) 1 , that is, it is regarded as the first time to determine the center position of the front end of the canard shaft, and the laser ranging sensor can be reused to obtain Multiple data (R+L2) 1 , (R+L2) 2 ,...(R+L2) i , the mode (or average) of the data measured multiple times by the three laser ranging sensors on the horizontal plane can be Considering that the position of the vertical plane where the center of the front end of the canard shaft is located is completely determined, the distance formula between the center position of the front end of the canard shaft and the laser ranging sensor in the middle is:
R+L2＝[(R+L2)
1+(R+L2)
2+...+(R+L2)
i]/i (4)
R+L2=[(R+L2) 1 +(R+L2) 2 +...+(R+L2) i ]/i (4)
S3：内调心轴承固定于飞机机身内部，其位置已经被确定，因为内调心轴承圆心为笛卡尔坐标系的原点，内调心轴承圆心距离中间的激光测距模块距离为L，再得知鸭翼轴前端的圆心位置后，鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差(L-(R+L2))
G为：
S3: The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined, because the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and the distance between the center of the inner self-aligning bearing and the laser ranging module in the middle is L, and then After knowing the position of the center of the front end of the canard shaft, the height difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane (L-(R+L2)) G is:
(L-(R+L2))
G＝L-[(R+L2)
1+(R+L2)
2+...+(R+L2)
i]/i (5)
(L-(R+L2)) G = L-[(R+L2) 1 +(R+L2) 2 +...+(R+L2) i ]/i (5)
将鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差L-(R+L2)反馈给运动控制系统，再由六轴调节平台对高度差进行补偿，即可将鸭 翼轴前端圆心和内调心轴承圆心调整至同一水平面。Feedback the height difference L-(R+L2) between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane to the motion control system, and then compensate the height difference by the six-axis adjustment platform, and the canard shaft can be adjusted The center of the front end and the center of the inner self-aligning bearing are adjusted to the same horizontal plane.
其中，运动控制系统为现有的控制系统，六轴调节平台可以采用现有的WIN06-043高精度六自由度平台，本发明实施例不做唯一性限定。Wherein, the motion control system is an existing control system, and the six-axis adjustment platform can adopt the existing WIN06-043 high-precision six-degree-of-freedom platform, which is not limited in the embodiment of the present invention.
S4：在鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面之后，同理可以采用几何知识及勾股定理，在正左(或正右)方(即竖直方向)安装的三个激光测距传感器亦可测量出鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差(L-(R+L2))
S为：
S4: After the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane, the geometric knowledge and the Pythagorean theorem can be used in the same way to install the three The laser ranging sensor can also measure the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane (L-(R+L2)) S is:
(L-(R+L2))
S＝L-[(R+L2)
1+(R+L2)
2+...+(R+L2)
i]/i (6)
(L-(R+L2)) S = L-[(R+L2) 1 +(R+L2) 2 +...+(R+L2) i ]/i (6)
鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差L-(R+L2)反馈给运动控制系统，再由六轴调节平台对水平差进行补偿，即可将鸭翼轴前端圆心和内调心轴承圆心高度重合，至此精准调节即可完成。The horizontal difference L-(R+L2) between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane is fed back to the motion control system, and then the six-axis adjustment platform compensates for the horizontal difference, so that the center of the front end of the canard shaft and the The center of the inner self-aligning bearing is highly coincident, and the precise adjustment can be completed at this point.
需要指出，根据实施的需要，可将本申请中描述的各个步骤/部件拆分为更多步骤/部件，也可将两个或多个步骤/部件或者步骤/部件的部分操作组合成新的步骤/部件，以实现本发明的目的。It should be pointed out that, according to the needs of implementation, the various steps/components described in this application may be split into more steps/components, or two or more steps/components or partial operations of steps/components may be combined into new steps/components to achieve the purpose of the present invention.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.
Claims (6)
- 一种飞机鸭翼精准调节定位装配系统，其特征在于，包括：激光测距传感器、PSD位置敏感探测器、CCD图像传感器、力传感器及处理模块；An aircraft canard precise adjustment and positioning assembly system is characterized by comprising: a laser ranging sensor, a PSD position sensitive detector, a CCD image sensor, a force sensor and a processing module;所述激光测距传感器位于内调心轴承的正下方以及内调心轴承的竖直平面的正左或正右方，所述激光测距传感器测量得到的鸭翼装配系统与内调心轴承的相对距离信号输出端与所述处理模块连接；The laser ranging sensor is located just below the inner self-aligning bearing and right or left of the vertical plane of the inner self-aligning bearing. The distance between the canard assembly system and the inner self-aligning bearing measured by the laser ranging sensor is The relative distance signal output end is connected with the processing module;所述处理模块，用于根据各激光测距传感器得到的鸭翼装配系统与内调心轴承的相对距离，得到鸭翼轴半径，进而得出鸭翼轴前端圆心所在竖直平面的位置，能够计算出鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差，以通过对所述高度差进行补偿将鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面；在鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面之后，通过在内调心轴承的竖直平面方向安装的激光测距传感器测量出鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差，进而通过对所述水平差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心高度重合；The processing module is used to obtain the radius of the canard shaft according to the relative distance between the canard assembly system and the inner self-aligning bearing obtained by each laser ranging sensor, and then obtain the position of the vertical plane where the center of the front end of the canard shaft is located. Calculate the height difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane, so as to adjust the center of the front end of the canard shaft and the center of the inner self-aligning bearing to the same horizontal plane by compensating the height difference; After the center of the front end of the shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane, the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing in the horizontal plane is measured by the laser ranging sensor installed in the vertical plane of the inner self-aligning bearing. , and then by compensating for the horizontal difference, the height of the center of the front end of the canard shaft and the center of the inner self-aligning bearing are coincident;所述PSD位置敏感探测器位于飞机表面，所述PSD位置敏感探测器检测的激光在所述PSD位置敏感探测器上的X-Y方向上的位移信号输出端与所述处理模块连接，以保证鸭翼装配系统的轴线和内调心轴承的轴线保持一致；The PSD position-sensitive detector is located on the surface of the aircraft, and the output end of the displacement signal of the laser detected by the PSD position-sensitive detector in the X-Y direction on the PSD position-sensitive detector is connected to the processing module to ensure the canard wing. The axis of the assembly system is consistent with the axis of the inner self-aligning bearing;所述CCD图像传感器位于飞机内调心轴承周围，实时监测鸭翼在安装过程中，鸭翼轴相对于内调心轴承的位置，所述CCD图像传感器的鸭翼轴相对于内调心轴承位置的图像信号与所述处理模块连接；The CCD image sensor is located around the inner self-aligning bearing of the aircraft, and monitors in real time the position of the canard shaft relative to the inner self-aligning bearing during the installation process of the canard, and the position of the canard shaft of the CCD image sensor relative to the inner self-aligning bearing. The image signal is connected with the processing module;所述力传感器位于鸭翼装配系统之中，所述力传感器检测的鸭翼装配系统的接触力信号与所述处理模块连接。The force sensor is located in the canard wing assembly system, and the contact force signal of the canard wing assembly system detected by the force sensor is connected to the processing module.
- 根据权利要求1所述的装配系统，其特征在于，所述PSD位置敏感探测器外部设置有防护壳。The assembly system of claim 1, wherein a protective casing is provided outside the PSD position-sensitive detector.
- 根据权利要求1或2所述的装配系统，其特征在于，所述信息获取模块设置有防尘膜。The assembly system according to claim 1 or 2, wherein the information acquisition module is provided with a dustproof film.
- 一种飞机鸭翼精准调节定位装配方法，其特征在于，包括：A method for precisely adjusting and positioning an aircraft canard, which is characterized in that:(1)内调心轴承固定于飞机机身内部，其位置已经被确定，以内调心轴承圆心为笛卡尔坐标系的原点，在内调心轴承正下方指定位置安装有三个激光测距传感器，内调心轴承圆心距离中间的激光测距传感器的距离为L；(1) The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined. The center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and three laser ranging sensors are installed at the designated position directly below the inner self-aligning bearing. The distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L;(2)鸭翼轴前端即将碰到内调心轴承之时，水平面的三个激光测距传感器亦可作用于鸭翼轴前端，由于鸭翼轴圆周最低点和内调心轴承圆周最低点保持在同一竖直平面，此时中间的激光测距传感器位于鸭翼轴竖直方向最低点处，根据几何知识，知道鸭翼轴圆上任意三点即可确定圆心位置，根据勾股定理及二者的数值便可计算出在圆上的弦长，再根据三角形的相似性，两个直角三角形为相似三角形，算得鸭翼轴半径，得出内调心轴承圆心位置与中间的激光测距传感器的距离，作为第一次确定鸭翼轴前端的圆心位置，水平面的三个激光测距传感器多次测量数据的众数作为完全确定鸭翼轴前端圆心所在竖直平面的位置；(2) When the front end of the canard shaft is about to touch the inner self-aligning bearing, the three laser ranging sensors on the horizontal plane can also act on the front end of the canard shaft. In the same vertical plane, the laser ranging sensor in the middle is located at the lowest point in the vertical direction of the canard axis. According to geometric knowledge, knowing any three points on the canard axis circle can determine the position of the center of the circle. According to the Pythagorean theorem and the second The chord length on the circle can be calculated from the value of the former, and then according to the similarity of the triangles, the two right triangles are similar triangles, the radius of the canard shaft can be calculated, and the center position of the inner self-aligning bearing and the laser ranging sensor in the middle can be obtained. As the first time to determine the center position of the front end of the canard shaft, the mode of the multiple measurement data of the three laser ranging sensors on the horizontal plane is used to completely determine the position of the vertical plane where the center of the front end of the canard shaft is located;(3)内调心轴承固定于飞机机身内部，其位置已经被确定，因为内调心轴承圆心为笛卡尔坐标系的原点，内调心轴承圆心距离中间的激光测距传感器的距离为L，再得知鸭翼轴前端圆心所在竖直平面的位置后，能够计算出鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差，将鸭翼轴前端圆心和内调心轴承圆心在竖直平面的高度差反馈给运动控制系统，再由六轴调节平台对高度差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面；(3) The inner self-aligning bearing is fixed inside the aircraft fuselage, and its position has been determined, because the center of the inner self-aligning bearing is the origin of the Cartesian coordinate system, and the distance between the center of the inner self-aligning bearing and the laser ranging sensor in the middle is L , After knowing the position of the vertical plane of the front end of the canard shaft, the height difference between the front end of the canard shaft and the center of the inner self-aligning bearing in the vertical plane can be calculated. The height difference of the circle center in the vertical plane is fed back to the motion control system, and the height difference is compensated by the six-axis adjustment platform, and the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane;(4)在鸭翼轴前端圆心和内调心轴承圆心调整至同一水平面之后，通过在内调心轴承的竖直平面方向安装的三个激光测距传感器测量出鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差，鸭翼轴前端圆心和内调心轴承圆心在水平面的水平差反馈给运动控制系统，再由六轴调节平台对水 平差进行补偿，将鸭翼轴前端圆心和内调心轴承圆心高度重合。(4) After the center of the front end of the canard shaft and the center of the inner self-aligning bearing are adjusted to the same horizontal plane, the three laser ranging sensors installed in the vertical plane of the inner self-aligning bearing are used to measure the center of the front end of the canard shaft and the center of the inner self-aligning bearing. The horizontal difference between the center of the center bearing on the horizontal plane, the horizontal difference between the center of the front end of the canard shaft and the center of the inner self-aligning bearing on the horizontal plane is fed back to the motion control system, and then the six-axis adjustment platform compensates for the horizontal difference. The center height of the inner self-aligning bearing is coincident.
- 根据权利要求4所述的装配方法，其特征在于，所述中间的激光测距传感器与内调心轴承圆心位于同一竖直面上。The assembling method according to claim 4, wherein the middle laser ranging sensor and the center of the inner self-aligning bearing are located on the same vertical plane.
- 根据权利要求4或5所述的装配方法，其特征在于，所述激光测距传感器可重复使用。The assembling method according to claim 4 or 5, wherein the laser ranging sensor is reusable.
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