CN101746510B - Assembly method of leading edge flap based on laser measuring technique - Google Patents

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, pre-assembling a wing spar; 7, pre-assembling 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

A kind of assembly method of the droope snoot based on laser measuring technique

(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 that the most often uses 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.

Droope snoot common structural scheme 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 special-purpose 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, cost is high; 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 special-purpose 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: the present behavior of inspection assembly floor guarantees that all numerical control assembly units have revert to initial position.

Step 2: open the data processing center of assembly system, import essential Design Theory data, and generate corresponding numerical control program.Data processing center comprises commercial design software of CATIA and independently developed data processing function module.Design Theory is accomplished in CATIA software, and reads functional module in independently developed data and read in the Design Theory data in the CATIA software, and generates corresponding numerical control program.

Step 3: the target that is used for laser tracking measurement is installed on 4 public-measurement point pedestals of assembly floor; With laser tracker 4 public-measurement points are measured successively; Utilize the coordinate data of these 4 public-measurement points to carry out the system of axes demarcation of laser measurement system, unify the system of axes of the system of axes of laser measurement system and assembly system.

Step 4: the data processing center of the coordinate data of 4 public-measurement points being imported assembly system; As the bench mark that is transformed into the take off data under the assembly system system of axes coordinate transformation process of Design Theory 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 following:

According to formula

i=1 wherein; 2; 3; 4 laser tracking measurement data for public-measurement point;

i=1; 2; 3, the 4 Design Theory data for public-measurement point are found the solution angular transformation matrix R.Finding the solution the translation transformation matrix according to formula

.λ is a length factor; It is last that its computing formula is

; Can get the data change type is:

wherein

be the coordinate figure after the data transfer,

is the coordinate figure of 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 positioning reference hole 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 of the current assembling of hinge and the locus of Design Theory are compared, calculate the locus deviation of this hinge and the position compensation amount of each degree of freedom.

Its computation process is following:

The Design Theory locus in 2 positioning reference 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), the real space position that Laser Tracking records is A ₁(x _A1, y _A1, z _A1), B ₁(x _B1, y _B1, z _B1), the locus deviation of axle head point then does

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, the web face normal vector e of itself and Design Theory ₀Between 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 positioning reference hole of this hinge once more with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this hinge.According to above assembling and positioning process, other hinges of this droope snoot are carried out assembling and positioning successively.

Step 6: spar pre-assy.

Successively spar is pre-assembled 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 positioning reference hole 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 of the current assembling of rib and the locus of Design Theory are compared, calculate the locus deviation of this rib and the locus compensation rate of each degree of freedom.

Its method of calculating is following:

The take off data of the central coordinate of circle in No. 1, No. 2, No. 3 positioning reference hole on the rib web face is spatial point O ₁, H ₁, V ₁, and the locus deviation between the spatial point O in its theory of correspondences design information, H, V representes 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 Design Theory point, according to formula

$\left(\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right)=\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)+\left(\begin{array}{c}{b}_1\\ b_2\\ b_3\end{array}\right),$

Wherein

is the locus of current assembling and positioning datum hole;

is the locus through the assembling and positioning bench mark after the translation compensation;

is the shifting deviation compensation rate, calculates 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; The angle value of adjusting around 3 change in coordinate axis direction rotations respectively; This angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the Design Theory value; And according to rigid body kinematics, after accomplishing the compensation of the anglec of rotation, according to formula around certain coordinate axle

$\left(\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right)=R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})\left(\begin{array}{c}x\\ y\\ z\end{array}\right),$

Wherein

is S. A.; The angle value of θ for compensating around this S. A., and

calculates 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 positioning reference hole of this rib with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this rib.

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 pre-assembled on the rib, then covering is pre-assembled 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 is carried out the scanning survey of aerodynamic configuration with the path of laser scanner by planning 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 Design Theory data of the take off data input assembly system of covering are compared and calculate each item aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.That is to say; In the independently developed Error Calculation analytic function module of data processing center; Be utilized in the Design Theory data of reading in the 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 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 special-purpose 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 following among the figure: 1 hinge; 2 spars; 3 ribs; 4 coverings.

(5) specific embodiment:

See Fig. 1, the instance of practical implementation 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, the practical implementation process is following:

New field of technical activity before the assembling.

Step 1: the present behavior of inspection assembly floor guarantees that all numerical control assembly units have revert to initial position.

Step 2: open the data processing center of assembly system, read in essential Design Theory data, and generate corresponding numerical control program.Data processing center comprises commercial design software of CATIA and independently developed data processing function module.Design Theory is accomplished in CATIA software, and reads functional module in independently developed data and read in the Design Theory data in the CATIA software, and generates corresponding numerical control program.

Step 3: the target that is used for laser tracking measurement is installed on 4 public-measurement point pedestals of assembly floor; With laser tracker 4 public-measurement points are measured successively; Utilize the coordinate data of these 4 public-measurement points to carry out the system of axes demarcation of laser measurement system, unify measurement coordinate system and assembling system of axes.The result of a measurement of 4 common points is as shown in table 1.

The design of table 1 public-measurement point and take off data

Step 4: with the data processing center of the coordinate data of 4 public-measurement points input assembly system, as the bench mark of the coordinate transformation of laser measurement system and Design Theory digital model.According to formula

i=1 wherein; 2; 3; 4 laser tracking measurement data for public-measurement point;

i=1; 2; 3, the 4 Design Theory data for public-measurement point are found the solution angular transformation matrix R.Finding the solution the translation transformation matrix according to formula

.λ is a length factor, its computing formula for

according to 3) in take off data to calculate the transformation matrix of coordinate transformation following:

$\left(\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right)=\frac{1}{1.0009}\left(\begin{array}{ccc}0.0142151& -0.610417& 0.791952\\ 0.280117& 0.735660& 0.560194\\ -0.924560& 0.293589& 0.242887\end{array}\right)\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)+\left(\begin{array}{c}17246.876\\ 13574.371\\ 9274.632\end{array}\right)$

Wherein

is the data under the assembling system of axes of actual measurement, and

is for designing the data under the system of axes in theory 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 positioning reference 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 positioning reference holes of 1# hinge successively with laser tracker.The Design Theory locus in 2 positioning reference 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), the real space position that Laser Tracking records is A ₁(x _A1, y _A1, z _A1), B ₁(x _B1, y _B1, z _B1), the locus deviation of axle head point does

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.Measure 3 random points on the web face with laser tracker, calculate the actual normal vector e of 1# hinge positioning reference plane according to the random point on 3 web faces that measure ₁, the web face normal vector e of itself and Design Theory ₀Between 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 pre-assy.

Successively 1 section of spar and 2 sections parts of spar are pre-assembled 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 positioning reference 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 positioning reference holes with laser tracker, the locus of the current assembling of 1# rib part and the locus of Design Theory are 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 right-angled 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 in No. 1, No. 2, No. 3 positioning reference hole on the 1# rib web face is spatial point O ₁, H ₁, V ₁, and the locus deviation between the spatial point O in its theory of correspondences design information, H, V representes 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 Design Theory point, and will be according to formula

$\left(\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right)=\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)+\left(\begin{array}{c}{b}_1\\ b_2\\ {\mathrm{<figure-callout\; id="3"\; label="b"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">b</figure-callout>}}_3\end{array}\right),$

Wherein is the locus of current assembling and positioning datum hole;

is the locus through the assembling and positioning bench mark after the translation compensation;

is the shifting deviation compensation rate, calculates 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; The angle value of adjusting around 3 change in coordinate axis direction rotations respectively; This angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the Design Theory value; And according to rigid body kinematics, after accomplishing the compensation of the anglec of rotation around certain coordinate axle, be according to formula

$\left(\begin{array}{c}{x}_1\\ y_1\\ {\mathrm{<figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout>}}_1\end{array}\right)=R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})\left(\begin{array}{c}x\\ y\\ z\end{array}\right),$

Wherein

is S. A.; The angle value of θ for compensating around this S. A.,

calculates 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 positioning reference 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 pre-assembled on the rib, then covering is pre-assembled 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 is carried out the scanning survey of aerodynamic configuration with the path of laser scanner by planning 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 Design Theory data of covering are compared and calculate each item aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.That is to say; In the independently developed Error Calculation analytic function module of data processing center; Be utilized in the Design Theory data of reading in the 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 numbered, be saved in data bank.

Claims (1)

1. assembly method based on the droope snoot of laser measuring technique, it is characterized in that: these method concrete steps are following:

Step 1: the present behavior of inspection assembly floor guarantees that all numerical control assembly units have revert to initial position;

Step 2: open the data processing center of assembly system, import essential Design Theory data, and generate corresponding numerical control program;

Step 3: the target that is used for laser tracking measurement is installed on 4 public-measurement point pedestals of assembly floor; With laser tracker 4 public-measurement points are measured successively; Utilize the coordinate data of these 4 public-measurement points to carry out the system of axes demarcation of laser measurement system, unify the system of axes of the system of axes of laser measurement system and assembly system;

Step 4: the data processing center of the coordinate data of 4 public-measurement points being imported assembly system; As the bench mark that is transformed into the take off data under the assembly system system of axes coordinate transformation process of Design Theory 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 following:

According to formula $\left(\begin{array}{ccc}{x}_{S2}-x_{S1}& y_{S2}-y_{S1}& z_{S2}-z_{S1}\\ x_{S3}-x_{S1}& y_{S3}-y_{S1}& z_{S3}-z_{S1}\\ x_{S4}-x_{S1}& y_{S4}-y_{S1}& z_{S4}-Z_{S1}\end{array}\right)R=\frac{1}{\mathrm{\&lambda;}}\left(\begin{array}{ccc}{x}_{T2}-x_{T1}& y_{T2}-y_{T1}& z_{T2}-z_{T1}\\ x_{T3}-x_{T1}& y_{T3}-y_{T1}& z_{T3}-z_{T1}\\ x_{T4}-x_{T1}& y_{T4}-y_{T1}& z_{T4}-z_{T1}\end{array}\right),$ Wherein $\left(\begin{array}{c}{x}_{\mathrm{Si}}\\ y_{\mathrm{Si}}\\ z_{\mathrm{Si}}\end{array}\right),$ I=1,2,3,4 laser tracking measurement data for public-measurement point, $\left(\begin{array}{c}{x}_{\mathrm{Ti}}\\ y_{\mathrm{Ti}}\\ z_{\mathrm{Ti}}\end{array}\right),$ I=1,2,3, the 4 Design Theory data for public-measurement point are found the solution angular transformation matrix R; Again according to formula $\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right)=\frac{1}{\mathrm{\&lambda;}}\left(\begin{array}{c}{x}_{T1}\\ y_{T1}\\ z_{T1}\end{array}\right)-R\left(\begin{array}{c}{x}_{S1}\\ y_{S1}\\ z_{S1}\end{array}\right)$ Find the solution the translation transformation matrix $\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right);$ λ is a length factor, and its computing formula does $\mathrm{\&lambda;}=\frac{L_{T1}}{L_{S1}}=\frac{\sqrt{{(x_{T2}-x_{T1})}^2+{(y_{T2}-y_{T1})}^2+{(z_{T2}-z_{T1})}^2}}{\sqrt{{(x_{S2}-x_{S1})}^2+{(y_{S2}-y_{S1})}^2+{(z_{S2}-z_{S1})}^2}},$ At last, getting the data change type is: $\left(\begin{array}{c}{x}_T\\ y_T\\ z_T\end{array}\right)=\mathrm{\&lambda;}\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right)+\mathrm{\&lambda;\; R}\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right),$ Wherein $\left(\begin{array}{c}{x}_T\\ y_T\\ z_T\end{array}\right)$ Be the coordinate figure after the data transfer, $\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right)$ 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 positioning reference hole 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 of the current assembling of hinge and the locus of Design Theory are compared, calculate the locus deviation of this hinge and the position compensation amount of each degree of freedom;

Its computation process is following:

The Design Theory locus in 2 positioning reference 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), the real space position that Laser Tracking records is A ₁(x _A1, y _A1, z _A1), B ₁(x _B1, y _B1, z _B1), the locus deviation of axle head point then does

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 $\left(\begin{array}{c}{\mathrm{\&Delta;x}}^{\&prime;}\\ {\mathrm{\&Delta;y}}^{\&prime;}\\ {\mathrm{\&Delta;z}}^{\&prime;}\end{array}\right)=\frac{1}{2}\left(\begin{array}{c}{x}_{B1}-x_{A1}-x_{B0}+x_{A0}\\ y_{B1}-y_{A1}-y_{B0}+y_{A0}\\ z_{B1}-z_{A1}-z_{B0}+z_{A0}\end{array}\right);$ Calculate the angle compensation amount α of hinge according to two end points of axis, β, wherein

Calculate the actual normal vector e of hinge positioning reference plane according to the random point on 3 web faces that measure ₁, the web face normal vector e of itself and Design Theory ₀Between 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 positioning reference hole of this hinge once more with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this hinge; According to above assembling and positioning process, other hinges of this droope snoot are carried out assembling and positioning successively;

Step 6: spar pre-assy;

Successively spar is pre-assembled 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 positioning reference hole 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 of the current assembling of rib and the locus of Design Theory are compared, calculate the locus deviation of this rib and the locus compensation rate of each degree of freedom;

Its method of calculating is following:

The take off data of the central coordinate of circle in No. 1, No. 2, No. 3 positioning reference hole on the rib web face is spatial point O ₁, H ₁, V ₁, and the locus deviation between the spatial point O in its theory of correspondences design information, H, V representes 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 Design Theory point, according to formula

$\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)=\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)+\left(\begin{array}{c}{b}_1\\ b_2\\ b_3\end{array}\right),$

Wherein $\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$ Be the locus of current assembling and positioning datum hole, $\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)$ Be locus through the assembling and positioning bench mark after the translation compensation, $\left(\begin{array}{c}{b}_1\\ b_2\\ b_3\end{array}\right)$ 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; The angle value of adjusting around 3 change in coordinate axis direction rotations respectively; This angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the Design Theory value; And according to rigid body kinematics, after accomplishing the compensation of the anglec of rotation, according to formula around certain coordinate axle

$\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)=R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})\left(\begin{array}{c}x\\ y\\ z\end{array}\right),$

Wherein

is S. A.; The angle value of θ for compensating around this S. A., and $R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})=\left(\begin{array}{ccc}{e}_x^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}& e_x{e}_y(1-\cos \mathrm{\&theta;})-e_z\sin \mathrm{\&theta;}& e_x{e}_z(1-\cos \mathrm{\&theta;})+e_y\sin \mathrm{\&theta;}\\ e_x{e}_y(1-\cos \mathrm{\&theta;})+e_z\sin \mathrm{\&theta;}& e_y^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}& e_y{e}_z(1-\cos \mathrm{\&theta;})-e_x\sin \mathrm{\&theta;}\\ e_x{e}_z(1-\cos \mathrm{\&theta;})-e_y\sin \mathrm{\&theta;}& e_y{e}_z(1-\cos \mathrm{\&theta;})+e_x\sin \mathrm{\&theta;}& e_z^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}\end{array}\right),$ 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 positioning reference hole of this rib with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this rib;

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 with fastener, connect spar and hinge with fastener;

Step 9: the assembling and positioning of covering; The leading edge section bar is pre-assembled on the rib, then covering is pre-assembled 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 that assembles is 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 is carried out the scanning survey of aerodynamic configuration with the path of laser scanner by planning 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 Design Theory data of the take off data input assembly system of covering are compared and calculate each item aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.

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