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

Butt-joint method for large-size parts of airplane by work space measuring and positioning system Download PDF

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Publication number
CN102991724A
CN102991724A CN2012105199506A CN201210519950A CN102991724A CN 102991724 A CN102991724 A CN 102991724A CN 2012105199506 A CN2012105199506 A CN 2012105199506A CN 201210519950 A CN201210519950 A CN 201210519950A CN 102991724 A CN102991724 A CN 102991724A
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China
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axes
coordinate
working space
key point
aircraft
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CN2012105199506A
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Inventor
郭洪杰
袁立
杨超
邾继贵
赵建国
任永杰
薛彬
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Shenyang Aircraft Industry Group Co Ltd
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Shenyang Aircraft Industry Group Co Ltd
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Priority to CN2012105199506A priority Critical patent/CN102991724A/en
Publication of CN102991724A publication Critical patent/CN102991724A/en
Pending legal-status Critical Current

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Abstract

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

Description

Utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking
Technical field
The invention belongs to industry spot large scale three-dimensional coordinate measurement technical field, particularly relate to a kind of method that Large Aircraft Components is docked accurately and fast.
Background technology
Traditional Large Aircraft Components automatic butt system mainly utilizes laser tracker that part pose is carried out measurement and positioning, and metrical information is sent to large parts to connected control system and posture adjustment integrated software system, calculate parts and dock needed adjustment amount, then data are passed to the positioning parts system, drive the rotation that position fixing system is carried out moving freely of X, Y, three directions of Z and X, Y, three directions of Z by servomotor, thereby realize the location of Large Aircraft Components, finish docking.
Traditional station-keeping mode need adopt laser tracker that the key point on the Large Aircraft Components is measured, i.e. position of the every movement of large parts all needs to remeasure these key points with the target ball, greatly reduces like this work efficiency.
Summary of the invention
The purpose of this invention is to provide and the present invention proposes a kind of method of utilizing working space measurement and positioning system to carry out Large Aircraft Components docking, can realize that multiple spot measures simultaneously, finish the full-automatic digital control of docking operation, greatly improved docking efficient.
Technical scheme of the present invention: utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, docking operation comprises following steps:
(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that measurement space is positioned at the best effort distance of Laser emission base station, and the laser encounter angle that send two Laser emission base stations is 60 °-90 °;
(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;
(3) choose several key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;
(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling and set landmark point, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;
(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location.The calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix With a translation matrix Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms. ,
By finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:
(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;
(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.
Beneficial effect of the present invention: the 3 D Coordinate Measuring System that 1. working space measurement and positioning system (workspace Measuring Position System) is a kind of full-automation, multi-task parallel processing, high precision, real-time is high, during large parts docking, the receptor target ball of native system is fixed on the measurement key point, in the process that achieves a butt joint each key point is carried out real-time simultaneously and measure, and need not after each the adjustment, all to measure successively each key point coordinate; 2. can reach the merging precision of 0.1mm, satisfy the merging precision demand fully, greatly improve work efficiency.
Description of drawings
Fig. 1 is large parts docking operation scheme drawing in the embodiment of the invention.
The 1-joint unit; The 2-movable part; The 3-target location; 4-Laser emission base station I; 5-Laser emission base station II; 6-measures target ball I; 7-measures target ball II; 8-measures target ball III; 9-measures target ball IV.
The specific embodiment
As shown in Figure 1, utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, docking operation comprises following steps:
(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that measurement space is positioned at the best effort distance of Laser emission base station, the laser encounter angle that send two Laser emission base stations is between 60 ° to 90 °, and its best effort distance is 6-15m;
(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;
(3) choose four key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;
(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;
(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location.The calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix With a translation matrix Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms. ,
By finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:
(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;
(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.

Claims (1)

1. utilize working space measurement and positioning system to carry out the method for Large Aircraft Components docking, it is characterized in that docking operation comprises following steps:
(1) arranges two Laser emission base stations, detected space is in the transmitting base station laser coverage fully, and guarantee that the laser encounter angle that sends two Laser emission base stations is between 60 ° to 90 °;
(2) use station meter that the ambient parameter of two Laser emission base stations is demarcated, set up working space measurement and positioning system coordinate system;
(3) choose several key points at movable part, be fixed with at these key point places and measure the target ball, make these measure the target ball and cover as much as possible movable part;
(4) set up aircraft axes and set landmark point at the ground of large parts butting tooling, so that the coordinate figure of landmark point in aircraft axes is definite value; Then under working space measuring system system of axes, measure the coordinate of landmark point, working space measuring system system of axes and aircraft axes are unified, thereby so that the coordinate figure that records under working space measuring system system of axes is scaled the coordinate figure in aircraft axes;
(5) begin to carry out large parts docking operation: the coordinate figure of measuring in real time key point in the working space measuring system system of axes, can obtain the Measured Coordinates value of key point in the aircraft axes, and the expected value of these key points is the theoretical coordinate under aircraft axes, the Measured Coordinates value of key point in the aircraft axes is participated in calculating with expected value, can obtain movable part and arrive the actuating quantity that do at 6 degree of freedom the target location, the calculating thinking is as follows: according to kinematic principle, if use matrix representation, the current location of movable part and the attitude of target location relation can be expressed as a rotation matrix With a translation matrix Its method of calculating, consistent with traditional co-registration of coordinate systems used algorithm, and the attitude that need to obtain relation is with three angle values (roll angle α, yaw angle β, pitch angle γ) and three shift value (directions X Tx, Y-direction Ty, Z direction Tz) these 6 parameters represent, utilize following formula, the solution of matrix form can be converted to 6 parametric forms , by finding the solution above-mentioned equation, it is as follows to obtain 6 parameter expressions:
(6) six the attitude Relation Parameters that are moved the required adjustment of parts that step (5) obtained are sent to the positioning parts system, make corresponding pose adjustment by the driven by servomotor parts, and then measure in real time the coordinate figure of key point in the working space measuring system system of axes, calculate the corresponding pose that draws by data handler and adjust parameter;
(7) process of repeating step (5) and step (6) repeatedly, until the difference of the Measured Coordinates value of each key point and expected value is less than the butting error requirement, docking operation finishes.
CN2012105199506A 2012-12-07 2012-12-07 Butt-joint method for large-size parts of airplane by work space measuring and positioning system Pending CN102991724A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104477406A (en) * 2014-11-26 2015-04-01 江西洪都航空工业集团有限责任公司 Product cabin section leveling butt joint method
CN104670520A (en) * 2013-12-02 2015-06-03 哈尔滨飞机工业集团有限责任公司 Assembling method for airplane composite part with interchangeability requirement
CN105091746A (en) * 2015-05-19 2015-11-25 北京星航机电装备有限公司 Space coordinate system calibration method for spacecraft cabin ground docking
CN105241434A (en) * 2015-10-22 2016-01-13 天津大学 Mobile launch station rapid orientation method based on wMPS
CN105627917A (en) * 2014-11-05 2016-06-01 北京航天计量测试技术研究所 Large-scale structural component assembly joining measurement method based on visual principle
CN106197265A (en) * 2016-06-30 2016-12-07 中国科学院长春光学精密机械与物理研究所 A kind of space free flight simulator precision visual localization method
CN108408080A (en) * 2018-03-29 2018-08-17 南昌航空大学 A kind of aircraft wing body Butt Assembling device, method and system
CN110702004A (en) * 2019-09-23 2020-01-17 深圳市智信精密仪器有限公司 Calibration block design and inspection method for high-precision calibration splicing of multiple line lasers
CN110775293A (en) * 2019-10-11 2020-02-11 中航成飞民用飞机有限责任公司 Method for establishing measurement reference coordinate system of lower station of aircraft nose component frame
CN111735388A (en) * 2020-07-21 2020-10-02 上海上飞飞机装备制造有限公司 Part locking visual positioning method for airplane digital butt joint
CN113467372A (en) * 2021-09-06 2021-10-01 成都飞机工业(集团)有限责任公司 Method for determining machining reference of aircraft component

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CN101907893A (en) * 2010-07-02 2010-12-08 北京航空航天大学 Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method
CN102001451A (en) * 2010-11-12 2011-04-06 浙江大学 Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method
CN102059549A (en) * 2010-11-12 2011-05-18 浙江大学 Airplane engine attitude regulation installation system based on four numerical control positioners and use method thereof

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Publication number Priority date Publication date Assignee Title
CN101907893A (en) * 2010-07-02 2010-12-08 北京航空航天大学 Aircraft component attitude adjusting assembly system based on parallel mechanism with six degrees of freedom and debugging method
CN102001451A (en) * 2010-11-12 2011-04-06 浙江大学 Airplane component attitude adjusting and butting system based on four numeric control positioners, attitude adjusting platform and mobile bracket and corresponding method
CN102059549A (en) * 2010-11-12 2011-05-18 浙江大学 Airplane engine attitude regulation installation system based on four numerical control positioners and use method thereof

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104670520A (en) * 2013-12-02 2015-06-03 哈尔滨飞机工业集团有限责任公司 Assembling method for airplane composite part with interchangeability requirement
CN105627917A (en) * 2014-11-05 2016-06-01 北京航天计量测试技术研究所 Large-scale structural component assembly joining measurement method based on visual principle
CN104477406A (en) * 2014-11-26 2015-04-01 江西洪都航空工业集团有限责任公司 Product cabin section leveling butt joint method
CN105091746A (en) * 2015-05-19 2015-11-25 北京星航机电装备有限公司 Space coordinate system calibration method for spacecraft cabin ground docking
CN105241434A (en) * 2015-10-22 2016-01-13 天津大学 Mobile launch station rapid orientation method based on wMPS
CN106197265B (en) * 2016-06-30 2018-11-27 中国科学院长春光学精密机械与物理研究所 A kind of space free flight simulator precision visual localization method
CN106197265A (en) * 2016-06-30 2016-12-07 中国科学院长春光学精密机械与物理研究所 A kind of space free flight simulator precision visual localization method
CN108408080A (en) * 2018-03-29 2018-08-17 南昌航空大学 A kind of aircraft wing body Butt Assembling device, method and system
CN108408080B (en) * 2018-03-29 2019-11-12 南昌航空大学 A kind of aircraft wing body Butt Assembling device, method and system
CN110702004A (en) * 2019-09-23 2020-01-17 深圳市智信精密仪器有限公司 Calibration block design and inspection method for high-precision calibration splicing of multiple line lasers
CN110775293A (en) * 2019-10-11 2020-02-11 中航成飞民用飞机有限责任公司 Method for establishing measurement reference coordinate system of lower station of aircraft nose component frame
CN111735388A (en) * 2020-07-21 2020-10-02 上海上飞飞机装备制造有限公司 Part locking visual positioning method for airplane digital butt joint
CN111735388B (en) * 2020-07-21 2020-11-17 上海上飞飞机装备制造有限公司 Part locking visual positioning method for airplane digital butt joint
CN113467372A (en) * 2021-09-06 2021-10-01 成都飞机工业(集团)有限责任公司 Method for determining machining reference of aircraft component
CN113467372B (en) * 2021-09-06 2021-11-02 成都飞机工业(集团)有限责任公司 Method for determining machining reference of aircraft component

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Application publication date: 20130327