CN101804470A - Automatic wing-body docking hole-making system and method - Google Patents
Automatic wing-body docking hole-making system and method Download PDFInfo
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Abstract
The invention relates to an automatic wing-body docking hole-making system and a method, which belongs to the technical field of operating transport. The method comprises the following steps: mainly utilizing the principle of magnetic positioning to firstly determine the projection position of a blind hole on the outer surface of a wing body and make a mark point; secondly, determining the pose of the mark point in a coordinate system of a hole-making device by image processing technique; and finally, generating corresponding motion control instructions to control a hole making unit to complete the processing of the hole according to the pose of the mark point. The system mainly comprises a hole positioning unit (7000), the hole making unit (1000), a normal vector detection unit (2000), a normal vector pose-adjusting mechanism (3000), a movable vehicle body (4000) and a central control unit (5000). The method and the system can better solve the processing problem of wing-body docking connecting holes.
Description
Technical field
The present invention relates to a kind of wing body and dock automatic drilling system and method, belong to technical field of operating transport.
Background technology
The butt joint drilling is the key link of the involutory assembling of wing body, and drilling efficient directly restricts the aircraft general assembly cycle, and the drilling quality also will directly influence the anti-fatigue performance of johning knot member.Especially follow aerospace component to develop towards thin-walled property, integration and complicated direction, the requirement of aspects such as complete machine structure long-life, high-quality, high efficiency, in addition the consumption of difficult-to-machine materials such as composite, titanium alloy increases considerably, and it is higher, more smart than required in the past to make the assembling drilling.
Wing body butt joint drilling is owing to be subject to processing the influence that the position is difficult for factors such as location and clamping, operating environment are narrow and small, handstand drilling inconvenience, the traditional manual drilling of the many employings of its drilling mode at present.Simultaneously, owing to be difficult to accurately realize the blind hole butt joint in the drilling process, this action need is by the complicated procedures of forming flow process of a series of " prefabricated bottom outlet-reamings-fraising ", and Kong Weifa vows to detect and is subjected to the people to control the puzzlement of factors such as error is bigger in addition, make drilling quality stability relatively poor, operating efficiency is also lower.Therefore, press for development wing body butt joint drilling automated arm.
Assemble aspect the automatic drilling at aircraft, comparatively ripe based on the application of robot hole fabrication techniques at present.Successfully developed a kind of flexible rail drilling system as U.S. Electroimpact company, be flexible rail robot+drilling end effector+monitoring and calibration system, the vacuum cup that is loaded with drilling end effector and the flexible rail robot that detects calibration system during work and is by flexible rail is adsorbed on the workpiece.There is Spain Fatronic Tecnalia company also to research and develop a kind of automatic drilling system again based on climbing robot, promptly adopt autonomous climbing robot+drilling end effector+monitoring and calibration system, it is under the assistance of monitoring and calibration system the drilling end effector to be delivered to assigned address by the autonomous climbing robot that has vacuum cup.Two kinds of automatic drilling systems are because of having adopted the vacuum suction technology, and it is less to require surface of the work opposed flattened and curvature to change, thereby are mainly used in the processing of the large-scale workpiece or the parts of big aircraft.In addition, a kind of industrial robot cutting processing system and method that is applied to the auxiliary assembling of aircraft announced in China application (patent) numbers 200810121353.1, and this system is made up of industrial machinery arm+drilling end effector+monitoring and calibration system.Because mechanical arm can have multiple degrees of freedom, this type of automatic drilling system can be suitable for surface of the work complexity, the higher processing of drilling positional precision, but need provide mechanical arm enough working spaces.For wing body butt joint drilling, the human-like automatic drilling of three kinds of above-mentioned machines system obviously can not satisfy the operating environment requirement, and three kinds of automatic drilling systems all do not relate to blind hole orientation problem in the wing body butt joint assembling.
On blind hole butt joint drilling location, U.S. Grand Pacific company provides a kind of covering blind hole navigation system, mainly comprises a cover sensor, boring locator, vacuum cup system, locating and displaying screen, magnet and power supply.During operation, at first by operator's hand held drilling locator, and with its place work piece surface; Carry out coarse positioning according to the mobile sensing of field strength distribution on the locating and displaying screen of magnet in the back of work blind hole then; When hand held drilling locator and magnet can be realized centering substantially, then utilize the vacuum cup system to be adsorbed on the workpiece and accurately locate again.Therefore, this device has very big randomness in position fixing process.Simultaneously, this system needs bigger working space in position fixing process, and wing body butt joint just width be 50～80 millimeters arrowband, obviously have the sucker installation question during fine positioning.
Summary of the invention
The objective of the invention is to overcome the technical deficiency of existing automatic drilling system, blind hole positioner, proposed a kind of blind hole location efficiency height, automaticity height, easy to operate wing body and docked automatic drilling system and method, being particularly suitable for wing body interfacing part is the automatic drilling System and method for of the high accurate hole system of difficult-to-machine material.
A kind of wing body docks automatic drilling system, it is characterized in that: this system comprises the hole positioning unit that is used for the blind hole location, be convenient to the moved car body carried, be installed on the method that to move end face on the car body and vow posture adjustment mechanism, also comprise the method arrow detecting unit and the drilling unit that are installed on the method arrow posture adjustment mechanism moving platform, and one be used for the central controlled central control unit of whole system, wherein:
(1) above-mentioned hole positioning unit, comprise sucker, be installed on case on the sucker, by one group circumferentially and radial movement mechanism be installed on Magnetic Sensor on the case, comprise that also one is analyzed generation module, a magnetic field inspection data analysis processing module that links to each other with Magnetic Sensor with the motion control instruction that circumferentially links to each other with radial movement mechanism, and a marking device that is fixed on the Magnetic Sensor;
(2) above-mentioned method vow posture adjustment mechanism comprise can realize workbench that X, Y direction move be installed on can realize on the workbench X, Y two to rotate, Z is to the three bar parallel connection platforms that move.
(3) above-mentioned method is vowed three optical displacement sensors that detecting unit comprises an image pair sensor and is positioned at third-class office on the same circle;
(4) above-mentioned drilling unit is conventional borehole device or helical milling device.
A kind ofly dock the method for drilling of automatic drilling system, it is characterized in that may further comprise the steps based on above-mentioned wing body:
(1), the position of in blind hole, placing magnet rough estimate magnet, the hole positioning unit is placed in the outer surface of wing body butt joint, and guarantees that the Magnetic Sensor in the positioning unit of hole can detect field signal;
(2), making Magnetic Sensor do circumferencial direction around fixing point with radii fixus earlier on wing body butting surface scans, arrives intensity maximum position on the circumferencial direction; With radially rectilinear direction scanning, arrive upwards intensity maximum position of footpath once more again, be the projected position of blind hole at outer surface; Index point under outer surface is done;
(1), utilize method to vow the hole gauge point image information that the image pair sensor in the detecting unit is gathered, automatically calculate the deviation of hole gauge point and picture centre, constantly carry out the centering of gauge point and image pair sensor and adjust, note this index point coordinate under automatic drilling device coordinate system by central control unit then until finishing the centering process;
(2), utilize method to vow that three optical displacement sensors in the detecting unit carry out light beam projecting near index point, near index point, form three subpoints, utilize optical displacement sensor to determine its subpoint distance of self relatively again, three range data are delivered to central control unit, the method that is calculated the plane that three subpoints constitute by central control unit is vowed the orientation, since three subpoints and gauge point very near and aerofoil curvature less, therefore the method on the plane that constitutes of three subpoints vows that the orientation is gauge point method arrow orientation.
Wherein, when described Magnetic Sensor carries out circumferencial direction scanning or radial alignment scanning direction, described magnetic field intensity maximum position promptly corresponding to magnetic field intensity by weak enhancing, more constantly by the sudden change that weakens by force.When carrying out circumferencial direction scanning, if Magnetic Sensor is subjected to the scanning that structural limitations only can be carried out one section circular arc on the circumference at every turn, and the magnetic field intensity maximum position is positioned at the circular arc two ends, then makes positioner rotate through certain angle around fixing point along magnetic field intensity augment direction on this circular arc and detects again.When carrying out the radial alignment scanning direction, if Magnetic Sensor is subjected to structural limitations and only can carries out the scanning of a straightway on the radial alignment direction at every turn, and the magnetic field intensity maximum position is positioned at the straightway two ends, then makes positioner along straightway magnetic field intensity augment direction the hole positioning unit be moved past certain distance and detects again.
In addition, when described image pair sensor is vowed posture adjustment in method, be sent on the working hole axis by the electric expansion cylinder, method is vowed and is passed through electric expansion cylinder withdrawal origin-location when posture adjustment finishes again, is convenient to drilling unit, below cutter and finishes the processing in hole along the axial feed of working hole.
Description of drawings
Fig. 1. dock the structural representation of automatic drilling device one preferable case study on implementation for wing body according to the present invention;
Fig. 2. be the structural representation of hole of the present invention positioning unit one preferable case study on implementation;
Fig. 3. be Magnetic Sensor of the present invention running route schematic diagram when blind hole detects;
Fig. 4. for the method for Fig. 1 vows that detecting unit is to sensor scheme of installation in the image;
Fig. 5. be the vertical view of Fig. 4, and three optical displacement sensors are installed on shown position;
Fig. 6. vow the structural representation of posture adjustment mechanism one preferable case study on implementation for the method for Fig. 1;
Fig. 7. be the structural representation of the moved car body one preferable case study on implementation of Fig. 1;
Fig. 8. for wing body of the present invention docks automatic drilling apparatus system composition frame chart;
Fig. 9. dock an implementing procedure figure of automatic method for drilling for wing body of the present invention;
Figure 10. be a preferable implementing procedure figure of the automatic location of blind hole of the present invention;
Figure 11. vow a preferable implementing procedure figure who detects for blind hole method of the present invention.
Label title among Fig. 1: 1000, drilling unit, 2000, method vows detecting unit, 3000, normal direction posture adjustment mechanism, 30001-1, workbench, 3000-2, three bar parallel connection platforms, but 4000 telephone-moving bodies, 5000, central control board.
Label title among Fig. 2: 7000, hole positioning unit, 7001, handle, 7002, case, 7003, sucker, 7004, the Magnetic Sensor support, 7005, Magnetic Sensor, 7006, hand held controller, the data analysis processing module is checked in 7006-1, magnetic field, 7006-2, circumferential and radial motion control instruction analysis generation module, 7007, marking device, 7008, movable pulley.
Label title: I, first detection side are to (circumferencial direction) initial position among Fig. 3, II, first detection side are to end position, III, first detection side to magnetic field intensity maximum/second detection side to (diametric(al)) initial position, IV, second detection side are to end position, V, second detection side be to the magnetic field intensity maximum, and 708, cylindrical magnet.
Label title among Fig. 4, Fig. 5: 2001, housing, 2002, block, 2003, mount pad, 2004, the image pair sensor, 2005, the electric expansion cylinder, 2006, fixed support, 2007, three optical displacement sensors, 2008, working hole.
Label title: 3000-1, workbench among Fig. 6,3001, fixed platform, 3002, moving platform, 3003, the electric expansion bar, 3004, drilling unit installing hole, 3005, Hooke's hinge/ball pivot, 3006, slide rail.
Label title among Fig. 7: 4001, workbench installed surface, 4002, liftable supporter, 4003, the combination vehicle frame, 4004, switch board.
Label title: 1-6,1-305, method implementation step among Fig. 8, Fig. 9, Figure 10, Figure 11.
The specific embodiment
Wing body of the present invention docks automatic method for drilling and system, mainly be to utilize the magnetic orientation principle to determine that at first blind hole is at the projected position of wing body outer surface and make index point, initiatively obtain the pose of this index point under automatic drilling device coordinate system by optical detective technology, finish the processing in hole according to gauge point Pose Control drilling unit at last.Introduce the specific embodiments that the present invention relates to method and apparatus in detail below in conjunction with accompanying drawing.
Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, for wing body of the present invention docks concrete case study on implementation of automatic drilling system, but it comprises hole positioning unit 7000, drilling unit 1000, method arrow detecting unit 2000, method arrow posture adjustment mechanism's 3000 telephone-moving bodies 4000 and a central control unit 5000, it is characterized in that:
Normal direction posture adjustment mechanism 3000, this mechanism are installed in and can move end face on the car body 4000, and the method that is equipped with on it is simultaneously vowed detecting unit 2000 and drilling unit 1000.Vow the adjusting starting stage in drilling unit 1000 methods, method vows that the image pair sensor 2004 of detecting unit transfers to position shown in Figure 4 (work shape body) by electric expansion cylinder 2005, and meanwhile method vows that the workbench 3000-1 of governor motion makes workbench 3000-1 close to the gauge point of blind hole along X, Y-axis by manual control mode.In gauge point entered image pair sensor 2004 working ranges, workbench 3000-1 changed over to automatically by the image pair sensor 2004 detection information control stage, vowed that until Completion Techniques the centering of detecting unit 2000 and gauge point is adjusted.When determining that the gauge point method is vowed, three optical displacement sensors 2007 of method arrow detecting unit 2000 pass through to detect apart from from the distance in gauge point annex subpoint, deliver to central controller 5000 and calculate the method arrow orientation of gauge point on automatic drilling device coordinate system lower wing surface.Then, the X of coordinate points, Y two are to coordinate when finishing in conjunction with centering, cook up the increment of motion that method is vowed posture adjustment mechanism 3000 each free degree by central controller 5000, the control method vows that posture adjustment mechanism 3000 drives the method sagittal attitude that drilling unit 2000 walks to gauge point, i.e. cutter pose during drilling.At this moment, method is vowed the image pair sensor 2004 withdrawal initial positions of detecting unit 2000, and drilling unit 1000 just can enter the drilling operation.
For the ease of the device carrying, above-mentioned method vows that parts such as detection 2000, method arrow testing agency 3000, switch board 2004 all place one can move on the car body 4000.When entering wing body butt joint drilling station, prop up whole drilling device and be connected, in case car body breaks away during drilling with ground by the liftable supporter 4002 that can move car body.
Fig. 8, Fig. 9 and Figure 10, Figure 11 dock four workflow diagrams of a preferable case study on implementation of automatic method for drilling for wing body of the present invention.
Among Fig. 8, wing body of the present invention docks automatic method for drilling and comprises the steps:
Step 1: in a plurality of blind holes of wing body docking site, put a magnet 7008 successively, and guarantee not have obviously magnetic interference mutually between adjacent two magnets.
Step 2: hole positioning unit 7000 is placed in the pairing wing body of each magnet outer surface roughly, by the direction initialization operation in Fig. 2 of hand held controller 7006 control Magnetic Sensors 7005, Magnetic Sensor 7005 finally walks to magnetic field intensity maximum (V), be the projected position of blind hole, and make index point down at wing body outer surface.By carrying out this operation repeatedly, finish determining of all gauge points.
Step 3: automatic drilling device shown in Figure 1 is moved to wing body butt joint below, prop up by bracing or strutting arrangement 4002 and can move car body 4000, and be connected to prevent that whole device from breakking away because of being subjected to chip-load with ground.Utilize method arrow detecting unit 2000 to find the solution above-mentioned index point pose under automatic drilling device coordinate system.
Step 4: according to gauge point pose under automatic drilling device coordinate system, control the movement instruction that platform 5000 is cooked up normal direction posture adjustment mechanism 3000, drive the normal direction pose that drilling unit 1000 walks to index point by central authorities.
Step 5: drilling unit 1000 size according to the hole before being mounted to normal direction posture adjustment mechanism 3000 is modulated to required bias state with cutter 1303.Material, thickness according to wing body connector are provided with suitable cutting data, finish the drilling operation.
Step 6: normal direction posture adjustment mechanism 3000 drives drilling unit 1000 and returns original state, or goes to step 3 and carry out part operation thereafter, proceeds the processing of next connecting hole.
Among Fig. 3, Fig. 7, blind hole automatic positioning method of the present invention comprises the steps:
Step 201: according to the processing thickness and the pore size thereof of each blind hole butt joint, one group of cylindrical magnets 7008 is put in choosing successively in the hole.
Step 202: rough estimate magnet positions undetermined is placed in the outer surface that wing body docks with hole positioning unit 7000, if no magnetic field detection signal can have field signal to get final product by adjusting the position of hole positioning unit.
Step 203: as shown in Figure 3, utilize hole positioning unit 7000 at first to carry out first detection side to (circumferencial direction) magnetic field detection: Magnetic Sensor 7005 rotates in a circumferential direction around the housing 7001 of hole positioning unit, and make its direction that strengthens along magnetic field intensity (I → II), if the magnetic field intensity decreasing phenomenon occurs after carrying out a period of time, return this stage magnetic field intensity maximum by hand held controller 7006 according to detecting Data Control Magnetic Sensor 7005 this moment.If the magnetic field intensity maximum is positioned at the circular arc two ends in the testing process, then hole positioning unit 7000 is turned over certain angle along field intensity at the circular arc augment direction, detect again.
Step 204: utilize hole positioning unit 7000 to carry out second detection side to (radial alignment section direction) magnetic field detection: control Magnetic Sensor 7005 is along housing 7001 radial motions of hole positioning unit 7000, and make its motion along magnetic field intensity augment direction (III → IV), if the magnetic field intensity decreasing phenomenon occurs after carrying out a period of time, return this stage magnetic field intensity maximum by hand held controller 7006 according to detecting Data Control Magnetic Sensor 7005 this moment.If the magnetic field intensity maximum is positioned at radial alignment section two ends in the testing process, then hole positioning unit 7000 is moved past certain distance along field intensity at the straightway augment direction, detect again.
Step 205: this moment, Magnetic Sensor 7005 in-positions were magnet steel magnetic field intensity maximum V on wing body surface, and promptly blind hole is made index point down at the projected position of outer surface.If proceed next blind hole location, then return step 202 and carry out.
Among Figure 13, the hole point method of docking automatic method for drilling for wing body of the present invention is vowed the operating procedure that detects with a case study on implementation of regulating:
Step 301: under central platform 5000 control, the method that is loaded with drilling unit 1000 vows that posture adjustment mechanism 3000 moves to index point with the automatic/hand control mode.
Step 302: when gauge point enters the working range that method is vowed detecting unit 2000, the image information of being gathered by the image pair sensor 2004 that is installed in drilling unit 1000 front ends is calculated the pixel deviation of hole gauge point and picture centre automatically, and the centering adjustment of constantly carrying out gauge point and image pair sensor position is until finishing the centering process.Note this index point coordinate under automatic drilling device coordinate system by central control unit 50000 then.
Step 303: the method for utilizing three optical displacement sensors 2007 of installing in the method arrow detecting unit 2000 at grade to carry out gauge point is vowed and is determined.Promptly determine the tool feeding direction.In order to improve accuracy of detection, three optical displacement sensors all were rotated certain angle and installed, and were in third-class office on the same circle.Near index point, carry out light beam projecting by three optical displacement sensors, near index point, form three subpoints.Utilize each optical displacement sensor to determine its subpoint distance of self relatively again.With three range data and deliver to central controller 5000, the method that is calculated the plane that three subpoints constitute by central controller 5000 is vowed the orientation.Because three subpoints are very approaching with gauge point, therefore the method on the plane that constitutes of three subpoints vows that the orientation is gauge point method arrow orientation.
Step 304: vow at automatic drilling device coordinate system upper/lower positions and method according to step 302,303 index points that obtain, combined techniques is vowed the structural model of posture adjustment mechanism 3000, cook up the increment of motion that method is vowed posture adjustment mechanism 3000 each free degree by central authorities' control platform 5000, the control method vows that posture adjustment mechanism 3000 drives drilling unit 1000 and moves to index point method vector potential appearance.
Step 305: the posture adjustment of drilling unit 1000 relative index point method vector potential appearances is so far finished, and the drilling operation just can be carried out in drilling unit 1000.If need carry out the processing in next hole, then return step 302.The better embodiment that the above only docks automatic drilling system and method for the wing body that the present invention relates to, but practical range of the present invention is not limited thereto example.
Claims (10)
1. a wing body docks automatic drilling system, it is characterized in that: this system comprises the hole positioning unit (7000) that is used for the blind hole location, be convenient to the moved car body (4000) carried, be installed on and move the method arrow posture adjustment mechanism (3000) that car body (4000) is gone up end face, also comprise the method arrow detecting unit (2000) and drilling unit (1000) that are installed on method arrow posture adjustment mechanism (3000) moving platform, and one be used for the central controlled central control unit of whole system (5000), wherein:
Above-mentioned hole positioning unit (7000), comprise sucker (7003), be installed on case (7002) on the sucker, by one group circumferentially and radial movement mechanism be installed on Magnetic Sensor (7005) on the case, comprise that also one is analyzed generation module (7006-1), a magnetic field inspection data analysis processing module (7006-2) that links to each other with Magnetic Sensor (7005) with the motion control instruction that circumferentially links to each other with radial movement mechanism, and a marking device (7007) that is fixed on the Magnetic Sensor (7005);
Above-mentioned method vow posture adjustment mechanism (3000) comprise can realize workbench (3000-1) that X, Y direction move be installed on can realize workbench (3000-1) on X, Y two to rotate, Z is to three mobile bar parallel connection platforms (3000-2).
Above-mentioned method is vowed three optical displacement sensors (2007) that detecting unit (2000) comprises an image pair sensor (2004) and is positioned at third-class office on the same circle;
2. wing body according to claim 1 docks automatic drilling system, it is characterized in that:
The motion concrete structure circumferential and radially of described hole positioning unit (7000) is as follows: comprise rotate in a circumferential direction a drive motors and a radial expansion drive motors, the drive motors that rotates in a circumferential direction is to link to each other by the sector rack that the gear on the output shaft and has a pole bracket (7004), and described Magnetic Sensor (7005) is installed on the movable pulley of pole bracket (7004) and through a gentle rope that is arranged on the pole bracket and links to each other with the radial expansion drive motors.
3. wing body according to claim 1 docks automatic drilling system, it is characterized in that:
Above-mentioned three bar parallel connection platforms (3000-2) comprise the fixed platform (3001) that is installed on the workbench (3000-1), be installed on moving platform (3002) on the fixed platform (3001) by three electric expansion leading screws (3003), adopt ball pivot or Hooke's hinge (3005) in the junction of electric expansion leading screw and fixed platform or moving platform.
4. wing body according to claim 1 docks automatic drilling system, it is characterized in that:
Above-mentioned method vows that the detecting unit concrete structure is as follows: comprise the housing (2001) that is provided with working hole (2008), also comprise being installed on electronic telescoping cylinder (2005) on housing (2001) inwall;
Described image pair sensor (2004) is installed on the electric expansion cylinder extension bar (2003);
It is on the end face circle in the center of circle that described three optical displacement sensors (2007) are installed on housing (2001) working hole (2008).
5. dock automatic drilling system according to claim 1 or described wing body, it is characterized in that:
Described drilling unit (1000) is conventional borehole device or helical milling device.
6. method for drilling that utilizes the described wing body of claim 1 to dock automatic drilling system is characterized in that may further comprise the steps:
Step 1, utilize hole positioning unit (7000) to adopt the magnetic orientation principle to determine the projected position of blind hole at wing body outer surface, and make index point, detailed process is as follows:
(1), in blind hole, places magnet (7008); The position of rough estimate magnet (7008) is placed in the outer surface of wing body butt joint with hole positioning unit (7000), and guarantees that the Magnetic Sensor (7005) in the hole positioning unit (7000) can detect field signal;
(2), making Magnetic Sensor (7005) do circumferencial direction around fixing point with radii fixus earlier on wing body butting surface scans, arrives intensity maximum position on the circumferencial direction; With radially rectilinear direction scanning, arrive upwards intensity maximum position of footpath once more again, be the projected position of blind hole at outer surface; Index point under outer surface is done;
Step 2, determine gauge point pose under drilling device coordinate system by optical detecting method, detailed process is as follows:
(1), utilize method to vow the hole gauge point image information that the image pair sensor (2004) in the detecting unit (2000) is gathered, automatically calculate the deviation of hole gauge point and picture centre, constantly carry out the centering of gauge point and image pair sensor and adjust, note this index point coordinate under automatic drilling device coordinate system by central control unit (50000) then until finishing the centering process;
(2), utilize method to vow that three optical displacement sensors (2007) in the detecting unit (2000) carry out light beam projecting near index point, near index point, form three subpoints, utilize optical displacement sensor to determine its subpoint distance of self relatively again, three range data are delivered to central control unit (5000), the method that is calculated the plane of three subpoints formations by central control unit (5000) is vowed the orientation, since three subpoints and gauge point very near and aerofoil curvature less, therefore the method on the plane that constitutes of three subpoints vows that the orientation is gauge point method arrow orientation.
Step 3, final and generate corresponding motion control instruction control drilling unit (1000) according to the gauge point pose and carry out the processing in hole.
7. wing body according to claim 6 docks automatic method for drilling, it is characterized in that:
When described Magnetic Sensor (7005) carries out circumferencial direction scanning or radial alignment scanning direction, described magnetic field intensity maximum position promptly corresponding to magnetic field intensity by weak enhancing, more constantly by the sudden change that weakens by force.
8. wing body according to claim 6 docks automatic method for drilling, it is characterized in that: when described Magnetic Sensor (7005) carries out circumferencial direction scanning, if Magnetic Sensor (7005) is subjected to the scanning that structural limitations only can be carried out one section circular arc on the circumference at every turn, and the magnetic field intensity maximum position is positioned at the circular arc two ends, then makes positioner rotate through certain angle around fixing point along magnetic field intensity augment direction on this circular arc and detects again.
9. wing body according to claim 6 docks automatic method for drilling, it is characterized in that: when described Magnetic Sensor (7005) carries out the radial alignment scanning direction, if Magnetic Sensor is subjected to structural limitations and only can carries out the scanning of a straightway on the radial alignment direction at every turn, and the magnetic field intensity maximum position is positioned at the straightway two ends, then makes positioner along straightway magnetic field intensity augment direction the hole positioning unit be moved past certain distance and detects again.
10. wing body according to claim 6 docks automatic method for drilling, it is characterized in that: when described image pair sensor (2004) is vowed posture adjustment in method, be sent on working hole (2008) axis by electric expansion cylinder (2005), method is vowed and is passed through electric expansion cylinder (2005) withdrawal origin-location when posture adjustment finishes again, is convenient to drilling unit (1000), below cutter and finishes the processing in hole along the axial feed of working hole (2008).
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| CN116680816A (en) * | 2023-07-27 | 2023-09-01 | 成都飞机工业（集团）有限责任公司 | Method, device, equipment and medium for correcting hole-making normal vector of aircraft component |
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| CN102145448B (en) * | 2011-04-27 | 2012-09-05 | 成都利君实业股份有限公司 | Method for machining blind holes on high-hardness metal material in batches |
| CN102357839A (en) * | 2011-10-25 | 2012-02-22 | 南京航空航天大学 | Unidirectional clamp drilling test device |
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| CN110174049A (en) * | 2019-05-22 | 2019-08-27 | 上海交通大学 | Steel tube screw thread image detection device and its moving method |
| CN111283246A (en) * | 2020-03-30 | 2020-06-16 | 上海麦可洛自动化科技有限公司 | Automatic blind hole position finder |
| CN112091255A (en) * | 2020-07-21 | 2020-12-18 | 梅标 | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera |
| CN112658308A (en) * | 2020-12-15 | 2021-04-16 | 广西玉柴机器股份有限公司 | Method for machining camshaft holes from two ends by using measuring head pin correcting holes |
| CN112658308B (en) * | 2020-12-15 | 2022-06-24 | 广西玉柴机器股份有限公司 | Method for machining camshaft holes from two ends by using measuring head pin correcting holes |
| CN113000881A (en) * | 2021-03-15 | 2021-06-22 | 浙江大学 | Finish machining method for outer wing butt joint intersection point hole |
| CN113000881B (en) * | 2021-03-15 | 2022-07-26 | 浙江大学 | Finish machining method for outer wing butt joint intersection point hole |
| CN116680816A (en) * | 2023-07-27 | 2023-09-01 | 成都飞机工业（集团）有限责任公司 | Method, device, equipment and medium for correcting hole-making normal vector of aircraft component |
| CN116680816B (en) * | 2023-07-27 | 2023-11-10 | 成都飞机工业（集团）有限责任公司 | Method, device, equipment and medium for correcting hole-making normal vector of aircraft component |
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