CN101746510A  Assembly method of leading edge flap based on laser measuring technique  Google Patents
Assembly method of leading edge flap based on laser measuring technique Download PDFInfo
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 CN101746510A CN101746510A CN201019114013A CN201019114013A CN101746510A CN 101746510 A CN101746510 A CN 101746510A CN 201019114013 A CN201019114013 A CN 201019114013A CN 201019114013 A CN201019114013 A CN 201019114013A CN 101746510 A CN101746510 A CN 101746510A
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 assembling
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 locus
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 hinge
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 239000000789 fasteners Substances 0.000 claims abstract description 4
 210000000614 Ribs Anatomy 0.000 claims description 65
 238000005259 measurement Methods 0.000 claims description 51
 238000004458 analytical method Methods 0.000 claims description 8
 238000004364 calculation method Methods 0.000 claims description 5
 238000001514 detection method Methods 0.000 claims description 4
 238000004519 manufacturing process Methods 0.000 abstract description 6
 210000003491 Skin Anatomy 0.000 abstract 2
 238000000889 atomisation Methods 0.000 abstract 1
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Abstract
The invention provides an assembly method of a leading edge flap based on a laser measuring technique, which comprises the following thirteen steps: 1, detecting the operating condition of an assembling platform and the initial position of an assembly unit; 2, leading in necessary data from a data processing center and generating a corresponding numerical control program; 3, measuring four public measuring points by using a laser tracker; 4, inputting the measured data into the data processing center and calculating to obtain the transformation matrix converted by the coordinate of the measured data; 5, assembling and positioning a hinge; 6, preassembling a wing spar; 7, preassembling and positioning a wing rib; 8, connecting the wing spar with the wring rib and connecting the wing spar with the hinge by fasteners; 9, assembling and positioning a skin; 10, connecting a leading edge proximate matter with each wing rib, connecting upper and lower skins and each wing rib with the leading edge proximate matter; 11, taking down the assembled leading edge flap component from the assembling platform; 12, detecting a pneumatic shape; and 13, analyzing the precision of the pneumatic shape. The method realizes the digitalization, atomization and flexibility of assembling the leading edge flap and has application prospect in the manufacture of airplanes.
Description
(1) technical field:
The present invention relates to a kind of assembly method of droope snoot, especially relate to a kind of assembly method of the droope snoot based on laser measuring technique, belong to the aircraft wing assembly technique field of aviation in making.
(2) background technology:
Droope snoot is one of high lift device of the most normal use on the leading edge of a wing, is generally used for supersonic plane, and its effect is to delay burbling, improves the maximum lift coefficient and the critical angle of attack, especially in the process of taking off and landing.The accuracy of manufacture of droope snoot and quality influence the aerodynamic performance of whole aircraft, and then influence the airworthiness of aircraft.
The organization plan that droope snoot is commonly used is: with its with wing before the following edge strip of crossbeam or front wall be connected with hinge, it can be around hinge deflection in the scope of certain angle.When the leading edge wing flap relative to its axle when rotating, its upper limb prevents to form the slit along the specialpurpose section slip that is fixed on the wing.Basic structural elements is hinge, spar, rib and covering.
In traditional aircraft Assembling Production based on analog quantity, the assembling of droope snoot is carried out in special tooling.This assembly method exists following problem: the first, and the type frame that is used to assemble is a purpose made, can only assemble the droope snoot of a certain model, lacks flexibility, the cost height; The second, restricting the precision of assembling by the accuracy of manufacture of assembly jig and workman's operant level; The 3rd, lack the actv. detection means in the fitting process, and testing result not digital quantity, can not carry out quantitative analysis.
(3) summary of the invention:
1, purpose: the purpose of this invention is to provide a kind of assembly method of the droope snoot based on laser measuring technique, it can solve the deficiency in the existing droope snoot assembling manufacturing process, improves the assembly precision of droope snoot; And reduce specialpurpose assembly tooling as far as possible, improve the flexibility of assembly system.
2, technical scheme:
The assembly method of a kind of droope snoot based on laser measuring technique of the present invention, it comprises three phases: the check and analysis stage after new field of technical activity, assembling stage and the assembling before the assembling.
New field of technical activity before the assembling may further comprise the steps:
Step 1: check the present behavior of assembly floor, guarantee that all numerical control assembly units have revert to initial position.
Step 2: open the data processing center of assembly system, import essential theoretical design information, and generate corresponding numerical control program.Data processing center comprises commercial design software of CATIA and independently developed data processing function module.Theoretical design is finished in CATIA software, and reads in theoretical design information in the CATIA software in independently developed data read functional module, and generates corresponding numerical control program.
Step 3: the target that is used for laser tracking measurement is installed on 4 publicmeasurement point pedestals of assembly floor, with laser tracker 4 publicmeasurement points are measured successively, utilize the coordinate data of these 4 publicmeasurement points to carry out the system of axes demarcation of laser measurement system, the system of axes of the system of axes of laser measurement system and assembly system is unified.
Step 4: the data processing center of the coordinate data of 4 publicmeasurement points being imported assembly system, as the bench mark of the coordinate transformation process that the take off data under the assembly system system of axes is transformed into theoretical design system of axes, calculate the transformation matrix of the coordinate transformation of carrying out take off data.
Wherein the The calculation of transformation matrix method is as follows:
According to formula
Wherein
I=1,2,3,4 laser tracking measurement data for publicmeasurement point,
I=1,2,3, the 4 theoretical design informations for publicmeasurement point are found the solution angular transformation matrix R.According to formula
Find the solution the translation transformation matrix.λ is a length factor, and its computing formula is
At last, can get the data change type is:
Wherein
Be the coordinate figure after the data transfer,
Coordinate figure for take off data.
Assembling stage may further comprise the steps:
Step 5: the assembling and positioning of hinge.
The target pedestal that is used for laser tracking measurement is installed on the datum hole of the location of hinge.Hinge is placed on the anchor clamps of numerical control assembly unit fixing and locking.Start the driving command of this hinge, the control assembly unit moves to the target location.With laser tracker measurement and positioning datum hole successively, the locus and the theoretical designcalculated locus of the current assembling of hinge compared, calculate the locus deviation of this hinge and the position compensation amount of each degree of freedom.
Its computation process is as follows:
The position, theoretical design space of 2 location datum holes at the axle head point place of hinge is A
_{0}(x
_{A0}, y
_{A0}, z
_{A0}), B
_{0}(x
_{B0}, y
_{B0}, z
_{B0}), it is A that laser is followed the tracks of the real space position that records
_{1}(x
_{A1}, y
_{A1}, z
_{A1}), B
_{1}(x
_{B1}, y
_{B1}, z
_{B1}), the locus deviation of axle head point then is
Get the mid point C of hinge axes
_{1}(x
_{C1}, y
_{C1}, z
_{C1}), itself and theoretical axis mid point C
_{0}(x
_{C0}, y
_{C0}, z
_{C0}) grid deviation be the translation compensation rate of hinge, promptly
The angle compensation amount of hinge is α wherein, and β calculates according to two end points of axis, wherein
Calculate the actual normal vector e of hinge positioning reference plane according to the random point on 3 web faces that measure
_{1}, itself and theoretical designcalculated web face normal vector e
_{0}Between angle be the 3rd angle compensation amount γ.
Generate the inching instruction of assembly unit according to the locus compensation rate.Assembly unit is carried out this inching instruction and is implemented the inching of locus.Measure the location datum hole of this hinge once more with laser tracker, and repeat said process, in allowed limits up to the locus of this hinge deviation.According to above assembling and positioning process, other hinges of this droope snoot are carried out assembling and positioning successively.
Step 6: spar preassy.
Spar is preassembled on the hinge that assembling and positioning is good successively.
Step 7: the assembling and positioning of rib.
The target pedestal that is used for laser tracking measurement is installed on the datum hole of the location of rib.Rib is placed on the anchor clamps of assembly unit fixing and locking.Start the driving command of this rib, the control assembly unit moves to the target location.With laser tracker measurement and positioning datum hole, the locus and the theoretical designcalculated locus of the current assembling of rib compared, calculate the locus deviation of this rib and the locus compensation rate of each degree of freedom.
Its method of calculating is as follows:
The take off data of the central coordinate of circle of No. 1, No. 2, No. 3 location datum holes on the rib web face is spatial point O
_{1}, H
_{1}, V
_{1}, and spatial point O, H in its theory of correspondences design information, the locus deviation between the V represent with the coordinate figure error of point, i.e. 3 vectors
The locus compensation rate of rib part comprises along the shifting deviation compensation rate of three change in coordinate axis direction with around the angle of rotation deviation compensation amount of three coordinate axlees.The shifting deviation compensation rate of rib part is the spatial coordinates deviation between No. 1 assembling and positioning bench mark and the theoretical design point, according to formula
Wherein
Be the locus of current assembling and positioning datum hole,
Be locus through the assembling and positioning bench mark after the translation compensation,
Be the shifting deviation compensation rate, calculate the locus of other assembling and positioning bench marks after the shifting deviation compensation.The angle of rotation deviation compensation amount of rib part is for after compensating the shifting deviation compensation rate, rotate the angle value of adjusting around 3 change in coordinate axis direction respectively, this angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the theoretical design value, and according to rigid body kinematics, after finishing the compensation of the anglec of rotation, according to formula around certain coordinate axle
Wherein
Be S. A., the angle value of θ for compensating around this S. A., and
Calculate the locus of other assembling and positioning datum holes this moment.
Generate the locus inching instruction of assembly unit according to the position compensation amount.Assembly unit is carried out this inching instruction and is implemented the inching of locus.Once more, measure the location datum hole of this rib, and repeat said process, in allowed limits up to the locus of this rib deviation with laser tracker.
According to above assembling and positioning process, other ribs of this droope snoot are carried out assembling and positioning successively.
Step 8: connect spar and rib, spar and hinge with fastener.
Step 9: the assembling and positioning of covering.
The leading edge section bar is preassembled on the rib, then covering is preassembled on the rib.
Step 10: connect leading edge section bar and each rib, covering and each rib and leading edge section bar up and down.
Step 11: the droope snoot parts that assemble are taken off from assembly floor.
The assembling back check and analysis stage may further comprise the steps:
Step 12: the detection of aerodynamic configuration.
The droope snoot that assembles is placed on the fixing bench board, and control robot by the path of planning, is carried out the scanning survey of aerodynamic configuration with laser scanner to last covering.The upset droope snoot carries out identical operations to following covering.
Step 13: aerodynamic configuration precision analysis.
The up and down data processing center and the theoretical design information of the take off data input assembly system of covering are compared and calculate every aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.That is to say, in the independently developed error computational analysis functional module of data processing center, the theoretical design information that utilization is read in step 2 and up and down the take off data of covering carry out the calculating and the analysis of aerodynamic configuration error, and the related data of this Calculation results and this droope snoot is numbered, be saved in data bank.
3, advantage and effect:
The assembly method of a kind of droope snoot based on laser measuring technique of the present invention, it has following advantage: first, in fitting process, utilize laser measurement system that assembly features is measured, can detect the assembly precision in the fitting process effectively, reach the requirement of the accuracy of manufacture of control final products; The second, laser measurement system obtains in fitting process is data such as locus accurately, no longer is analog quantity, can carry out quantitative assessment to assembly precision; The 3rd, owing to substituted traditional specialpurpose clamp, make the assembly floor of this assembly system can be used for the similar size of mounting structure droope snoot within the specific limits with laser measurement system, improved the flexibility of assembly system.
(4) description of drawings:
Fig. 1 is the droope snoot structural representation;
Nomenclature is as follows among the figure: 1 hinge; 2 spars; 3 ribs; 4 coverings.
(5) specific embodiment:
See Fig. 1, the concrete example of implementing is the droope snoot parts with typical structure, and it comprises: 1# hinge 1,2# hinge 1; Spar 2; 1# rib 3,2# rib 3,3# rib 3,4# rib 3; Leading edge section bar, last covering, following covering.
Based on the assembly method of a kind of droope snoot of laser measurement, specific implementation process is as follows:
New field of technical activity before the assembling.
Step 1: check the present behavior of assembly floor, guarantee that all numerical control assembly units have revert to initial position.
Step 2: open the data processing center of assembly system, read in essential theoretical design information, and generate corresponding numerical control program.Data processing center comprises commercial design software of CATIA and independently developed data processing function module.Theoretical design is finished in CATIA software, and reads in theoretical design information in the CATIA software in independently developed data read functional module, and generates corresponding numerical control program.
Step 3: the target that is used for laser tracking measurement is installed on 4 publicmeasurement point pedestals of assembly floor, with laser tracker 4 publicmeasurement points are measured successively, utilize the coordinate data of these 4 publicmeasurement points to carry out the system of axes demarcation of laser measurement system, measurement coordinate system and assembling system of axes are unified.The result of a measurement of 4 common points is as shown in table 1.
The design of table 1 publicmeasurement point and take off data
Step 4: with the data processing center of the coordinate data of 4 publicmeasurement points input assembly system, as the bench mark of the coordinate transformation of laser measurement system and theoretical design digital model.According to formula
Wherein
I=1,2,3,4 laser tracking measurement data for publicmeasurement point,
I=1,2,3, the 4 theoretical design informations for publicmeasurement point are found the solution angular transformation matrix R.According to formula
Find the solution the translation transformation matrix.λ is a length factor, and its computing formula is
According to 3) in take off data to calculate the transformation matrix of coordinate transformation as follows:
Wherein
Be the data under the assembling system of axes of actual measurement,
Be the data under theory design system of axes after the conversion.
Assembling stage.
Step 5: the assembling and positioning of hinge.
The target pedestal that is used for laser tracking measurement is installed on the location datum hole of 1# hinge part.1# hinge part is placed on the anchor clamps of numerical control assembly unit fixing and locking.Start the driving command of 1# hinge part, the control assembly unit moves to the target location.Measure 2 location datum holes of 1# hinge successively with laser tracker.The position, theoretical design space of 2 location datum holes at the axle head point place of 1# hinge is A
_{0}(x
_{A0}, y
_{A0}, z
_{A0}), B
_{0}(x
_{B0}, y
_{B0}, z
_{B0}), it is A that laser is followed the tracks of the real space position that records
_{1}(x
_{A1}, y
_{A1}, z
_{A1}), B
_{1}(x
_{B1}, y
_{B1}, z
_{B1}), the locus deviation of axle head point is
Get the mid point C of 1# hinge
_{1}(x
_{C1}, y
_{C1}, z
_{C1}), itself and theoretical axis mid point C
_{0}(x
_{C0}, y
_{C0}, z
_{C0}) grid deviation be the translation compensation rate of 1# hinge, promptly
The angle compensation amount of 1# hinge is α wherein, and β calculates according to two end points of axis, wherein
The inching that generates assembly unit according to the locus compensation rate is instructed, and assembly unit is implemented the inching of locus according to this inching instruction.With 3 random points on the laser tracker measurement web face, calculate the actual normal vector e of 1# hinge positioning reference plane according to the random point on 3 web faces that measure
_{1}, itself and theoretical designcalculated web face normal vector e
_{0}Between angle be the 3rd angle compensation amount γ.The inching that generates assembly unit according to the locus compensation rate is instructed, and assembly unit is implemented the inching of locus according to this inching instruction.
Repeat said process, in allowed limits up to the locus deviation of 1# hinge part.The result of a measurement of 1# hinge and locus error and compensation rate are as shown in table 3.
The design of table 3 1# hinge and take off data and Calculation results
According to above assembling and positioning process, the 2# hinge of this droope snoot is carried out assembling and positioning.
Step 6: spar preassy.
Successively 1 section of spar and 2 sections parts of spar are preassembled on the hinge part that assembling and positioning is good.
Step 7: the assembling and positioning of rib.
The target pedestal that is used for laser tracking measurement is installed on the location datum hole of 1# rib part.1# rib part is placed on the anchor clamps of assembly unit fixing and locking.Start the driving command of 1# rib, the control assembly unit moves to the target location.Measure 3 location datum holes with laser tracker, the locus and the theoretical designcalculated locus of the current assembling of 1# rib part compared, calculate the locus deviation of 1# rib part and the locus compensation rate of each degree of freedom.
3 assembling and positioning datum holes on the 1# rib web be scattered in rightangled triangle, No. 1 the assembling and positioning datum hole is positioned at the place, right angle.The take off data of the central coordinate of circle of No. 1, No. 2, No. 3 location datum holes on the 1# rib web face is spatial point O
_{1}, H
_{1}, V
_{1}, and spatial point O, H in its theory of correspondences design information, the locus deviation between the V represent with the coordinate figure error of point, i.e. 3 vectors
The locus compensation rate of 1# rib part comprises along the shifting deviation compensation rate of three change in coordinate axis direction with around the angle of rotation deviation compensation amount of three coordinate axlees.According to the layout setting of assembling and positioning bench mark, the shifting deviation compensation rate of 1# rib part is the spatial coordinates deviation between No. 1 assembling and positioning bench mark and the theoretical design point, and will be according to formula
Wherein
Be the locus of current assembling and positioning datum hole,
Be locus through the assembling and positioning bench mark after the translation compensation,
Be the shifting deviation compensation rate, calculate the locus of other assembling and positioning bench marks after the shifting deviation compensation.The angle of rotation deviation compensation amount of 1# rib part is for after compensating the shifting deviation compensation rate, rotate the angle value of adjusting around 3 change in coordinate axis direction respectively, this angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the theoretical design value, and according to rigid body kinematics, after finishing the compensation of the anglec of rotation around certain coordinate axle, be according to formula
Wherein
Be S. A., the angle value of θ for compensating around this S. A.,
Calculate the locus of other assembling and positioning datum holes this moment.
Then, generate the locus inching instruction of assembly unit according to the locus compensation rate.Assembly unit is implemented the inching of locus according to this inching instruction.Once more, measure fixed 3 location datum holes of 1# rib part with laser tracker, and repeat said process, in allowed limits up to the locus deviation of 1# rib part.The result of a measurement of 1# rib part and locus error and compensation rate are as shown in table 4.
The design of table 4 1# rib and take off data and calculating divide the result
According to above assembling and positioning process, 2# rib, 3# rib, the 4# rib of this droope snoot carried out assembling and positioning successively.
Step 8: connect spar and rib, spar and hinge with fastener.
Step 9: the assembling and positioning of covering.
The leading edge section bar is preassembled on the rib, then covering is preassembled on the rib part.
Step 10: connect leading edge section bar and each rib, covering and each rib and leading edge section bar up and down.
Step 11: the droope snoot parts that assemble are taken off from assembly floor.
The assembling back check and analysis stage may further comprise the steps:
Step 12: the detection of aerodynamic configuration.
The droope snoot that assembles is placed on the fixing bench board, and control robot by the path of planning, is carried out the scanning survey of aerodynamic configuration with laser scanner to last covering.The upset droope snoot carries out identical operations to following covering.
Step 13: aerodynamic configuration precision analysis.
Up and down the take off data input data processing center and the theoretical design information of covering are compared and calculate every aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.That is to say, in the independently developed error computational analysis functional module of data processing center, the theoretical design information that utilization is read in step 2 and up and down the take off data of covering carry out the calculating and the analysis of aerodynamic configuration error, and the related data of this Calculation results and this droope snoot is numbered, be saved in data bank.
Claims (1)
1. the assembly method of a kind of droope snoot based on laser measuring technique of the present invention, it is characterized in that: these method concrete steps are as follows:
Step 1: check the present behavior of assembly floor, guarantee that all numerical control assembly units have revert to initial position;
Step 2: open the data processing center of assembly system, import essential theoretical design information, and generate corresponding numerical control program;
Step 3: the target that is used for laser tracking measurement is installed on 4 publicmeasurement point pedestals of assembly floor, with laser tracker 4 publicmeasurement points are measured successively, utilize the coordinate data of these 4 publicmeasurement points to carry out the system of axes demarcation of laser measurement system, the system of axes of the system of axes of laser measurement system and assembly system is unified;
Step 4: the data processing center of the coordinate data of 4 publicmeasurement points being imported assembly system, as the bench mark of the coordinate transformation process that the take off data under the assembly system system of axes is transformed into theoretical design system of axes, calculate the transformation matrix of the coordinate transformation of carrying out take off data;
Wherein the The calculation of transformation matrix method is as follows:
According to formula
$\left(\begin{array}{ccc}{x}_{S2}{x}_{S1}& {y}_{S2}{y}_{S1}& {z}_{S2}{z}_{S1}\\ {x}_{S3}{x}_{S1}& {y}_{S3}{y}_{S1}& {z}_{S3}{z}_{S1}\\ {x}_{S4}{x}_{S1}& {y}_{S4}{y}_{S1}& {z}_{S4}{z}_{S1}\end{array}\right)R=\frac{1}{\mathrm{\λ}}\left(\begin{array}{ccc}{x}_{T2}{x}_{T1}& {y}_{T2}{y}_{T1}& {z}_{T2}{z}_{T1}\\ {x}_{T3}{x}_{T1}& {y}_{T3}{y}_{T1}& {z}_{T3}{z}_{T1}\\ {x}_{T4}{x}_{T1}& {y}_{T4}{y}_{T1}& {z}_{T4}{z}_{T1}\end{array}\right),$ Wherein
I=1,2,3,4 laser tracking measurement data for publicmeasurement point,
I=1,2,3, the 4 theoretical design informations for publicmeasurement point are found the solution angular transformation matrix R; According to formula
$\left(\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\\ \mathrm{\Δz}\end{array}\right)=\frac{1}{\mathrm{\λ}}\left(\begin{array}{c}{x}_{T1}\\ {y}_{T1}\\ {z}_{T1}\end{array}\right)R\left(\begin{array}{c}{x}_{S1}\\ {y}_{S1}\\ {z}_{S1}\end{array}\right)$ Find the solution the translation transformation matrix; λ is a length factor, and its computing formula is
$\mathrm{\λ}=\frac{{L}_{T1}}{{L}_{S1}}=\frac{\sqrt{{({x}_{T2}{x}_{T1})}^{2}+{({y}_{T2}{y}_{T1})}^{2}+{({z}_{T2}{z}_{T1})}^{2}}}{\sqrt{{({x}_{S2}{x}_{S1})}^{2}+{({y}_{S2}{y}_{S1})}^{2}+{({z}_{S2}{z}_{S1})}^{2}}},$ At last, can get the data change type is:
$\left(\begin{array}{c}{x}_{T}\\ {y}_{T}\\ {z}_{T}\end{array}\right)=\mathrm{\λ}\left(\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\\ \mathrm{\Δz}\end{array}\right)+\mathrm{\λR}\left(\begin{array}{c}{x}_{S}\\ {y}_{S}\\ {z}_{S}\end{array}\right),$ Wherein
Be the coordinate figure after the data transfer,
Coordinate figure for take off data;
Step 5: the assembling and positioning of hinge;
The target pedestal that is used for laser tracking measurement is installed on the datum hole of the location of hinge, hinge is placed on the anchor clamps of numerical control assembly unit fixing and locking; Start the driving command of this hinge, the control assembly unit moves to the target location, with laser tracker measurement and positioning datum hole successively, the locus and the theoretical designcalculated locus of the current assembling of hinge are compared, calculate the locus deviation of this hinge and the position compensation amount of each degree of freedom;
Its computation process is as follows:
The position, theoretical design space of 2 location datum holes at the axle head point place of hinge is A
_{0}(x
_{A0}, y
_{A0}, z
_{A0}), B
_{0}(x
_{B0}, y
_{B0}, z
_{B0}), it is A that laser is followed the tracks of the real space position that records
_{1}(x
_{A1}, y
_{A1}, z
_{A1}), B
_{1}(x
_{B1}, y
_{B1}, z
_{B1}), the locus deviation of axle head point then is
Get the mid point C of hinge axes
_{1}(x
_{C1}, y
_{C1}, z
_{C1}), itself and theoretical axis mid point C
_{0}(x
_{C0}, y
_{C0}, z
_{C0}) grid deviation be the translation compensation rate of hinge, promptly
$\left(\begin{array}{c}\mathrm{\Δx}\\ \mathrm{\Δy}\\ \mathrm{\Δz}\end{array}\right)=\frac{1}{2}\left(\begin{array}{c}{x}_{B1}{x}_{A1}{x}_{B0}+{x}_{A0}\\ {y}_{B1}{y}_{A1}{y}_{B0}+{y}_{A0}\\ {z}_{B1}{z}_{A1}{z}_{B0}+{z}_{A0}\end{array}\right);$ The angle compensation amount of hinge is α wherein, and β calculates according to two end points of axis, wherein
$\mathrm{\α}=\frac{2({z}_{A1}+\mathrm{\Δz}{z}_{A0})}{\stackrel{\‾}{{A}_{1}{B}_{1}}},$ $\mathrm{\β}=\frac{2({y}_{A1}+\mathrm{\Δy}{y}_{A0})}{\stackrel{\‾}{{A}_{1}{B}_{1}}};$ Calculate the actual normal vector e of hinge positioning reference plane according to the random point on 3 web faces that measure
_{1}, itself and theoretical designcalculated web face normal vector e
_{0}Between angle be the 3rd angle compensation amount γ;
The inching that generates assembly unit according to the locus compensation rate is instructed, and assembly unit is carried out this inching instruction and implemented the inching of locus; Measure the location datum hole of this hinge once more with laser tracker, and repeat said process, in allowed limits up to the locus of this hinge deviation; According to above assembling and positioning process, other hinges of this droope snoot are carried out assembling and positioning successively;
Step 6: spar preassy;
Successively spar is preassembled on the hinge that assembling and positioning is good;
Step 7: the assembling and positioning of rib;
The target pedestal that is used for laser tracking measurement is installed on the datum hole of the location of rib, rib is placed on the anchor clamps of assembly unit fixing and locking; Start the driving command of this rib, the control assembly unit moves to the target location; With laser tracker measurement and positioning datum hole, the locus and the theoretical designcalculated locus of the current assembling of rib compared, calculate the locus deviation of this rib and the locus compensation rate of each degree of freedom;
Its method of calculating is as follows:
The take off data of the central coordinate of circle of No. 1, No. 2, No. 3 location datum holes on the rib web face is spatial point O
_{1}, H
_{1}, V
_{1}, and spatial point O, H in its theory of correspondences design information, the locus deviation between the V represent with the coordinate figure error of point, i.e. 3 vectors
The locus compensation rate of rib part comprises along the shifting deviation compensation rate of three change in coordinate axis direction with around the angle of rotation deviation compensation amount of three coordinate axlees, the shifting deviation compensation rate of rib part is the spatial coordinates deviation between No. 1 assembling and positioning bench mark and the theoretical design point, according to formula
Wherein
Be the locus of current assembling and positioning datum hole,
Be locus through the assembling and positioning bench mark after the translation compensation,
Be the shifting deviation compensation rate, calculate the locus of other assembling and positioning bench marks after the shifting deviation compensation; The angle of rotation deviation compensation amount of rib part is for after compensating the shifting deviation compensation rate, rotate the angle value of adjusting around 3 change in coordinate axis direction respectively, this angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the theoretical design value, and according to rigid body kinematics, after finishing the compensation of the anglec of rotation, according to formula around certain coordinate axle
Wherein
Be S. A., the angle value of θ for compensating around this S. A., and
$R(\stackrel{\→}{e},\mathrm{\θ})=\left(\begin{array}{ccc}{e}_{x}^{2}(1\mathrm{cos}\mathrm{\θ})+\mathrm{cos}\mathrm{\θ}& {e}_{x}{e}_{y}(1\mathrm{cos}\mathrm{\θ}){e}_{z}\mathrm{sin}\mathrm{\θ}& {e}_{x}{e}_{z}(1\mathrm{cos}\mathrm{\θ})+{e}_{y}\mathrm{sin}\mathrm{\θ}\\ {e}_{x}{e}_{y}(1\mathrm{cos}\mathrm{\θ})+{e}_{z}\mathrm{sin}\mathrm{\θ}& {e}_{y}^{2}(1\mathrm{cos}\mathrm{\θ})+\mathrm{cos}\mathrm{\θ}& {e}_{y}{e}_{z}(1\mathrm{cos}\mathrm{\θ}){e}_{x}\mathrm{sin}\mathrm{\θ}\\ {e}_{x}{e}_{z}(1\mathrm{cos}\mathrm{\θ}){e}_{y}\mathrm{sin}\mathrm{\θ}& {e}_{y}{e}_{z}(1\mathrm{cos}\mathrm{\θ})+{e}_{x}\mathrm{sin}\mathrm{\θ}& {e}_{z}^{2}(1\mathrm{cos}\mathrm{\θ})+\mathrm{cos}\mathrm{\θ}\end{array}\right),$ Calculate the locus of other assembling and positioning datum holes this moment;
The locus inching that generates assembly unit according to the position compensation amount is instructed, and assembly unit is carried out this inching instruction and implemented the inching of locus; Once more, measure the location datum hole of this rib, and repeat said process, in allowed limits up to the locus of this rib deviation with laser tracker;
According to above assembling and positioning process, other ribs of this droope snoot are carried out assembling and positioning successively;
Step 8: connect spar and rib, spar and hinge with fastener;
Step 9: the assembling and positioning of covering; The leading edge section bar is preassembled on the rib, then covering is preassembled on the rib;
Step 10: connect leading edge section bar and each rib, covering and each rib and leading edge section bar up and down;
Step 11: the droope snoot parts that assemble are taken off from assembly floor;
Step 12: the detection of aerodynamic configuration;
The droope snoot that assembles is placed on the fixing bench board, and control robot by the path of planning, is carried out the scanning survey of aerodynamic configuration with laser scanner to last covering; The upset droope snoot carries out identical operations to following covering;
Step 13: aerodynamic configuration precision analysis;
The up and down data processing center and the theoretical design information of the take off data input assembly system of covering are compared and calculate every aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.
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