CN103522126B - Assembly automation drilling precise positioning method - Google Patents
Assembly automation drilling precise positioning method Download PDFInfo
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- CN103522126B CN103522126B CN201310475511.4A CN201310475511A CN103522126B CN 103522126 B CN103522126 B CN 103522126B CN 201310475511 A CN201310475511 A CN 201310475511A CN 103522126 B CN103522126 B CN 103522126B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
Abstract
The invention discloses a kind of assembly automation drilling precise positioning method, punching system is set up with five-axis robot lathe and laser tracker, product is installed on assembly jig after reaching stable drilling state, together move to Five-axis NC Machining Center and fix, laser tracker is utilized to set up coordinate system by the datum mark of assembly jig, scanning product design profile, through reverse, scanning is obtained a cloud generation entity digital-to-analogue, pass through Survey Software, position, hole nearest with product design profile mathematical point 3d space on described entity digital-to-analogue the surface automatically span, using this position, hole as the foundation of five-axis robot drilling.Advantage of the present invention improves machining accuracy, eliminates the complex calculation in drilling process, repeatedly calibrates, and ensures that the precision of the position degree of drilling, the perpendicular degree of method, the counter boring degree of depth is better than automation drilling code requirement; Without the need to expensive end effector, reduce manufacturing cost, production efficiency is maximized.
Description
Technical field
The present invention relates to a kind of localization method assembling drilling, particularly during a kind of assembly automation drilling, reduce the precise positioning method of actual value and theoretical value deviation.
Background technology
Current transporation by plane automation punching system adopts mechanical arm or five-axis robot lathe for mainly to drive navigation system, carries out drilling in conjunction with end effector.The drilling equipment of mechanical arm and five axles is according to the theoretical digital-to-analogue of holes of products position, theoretical digital-to-analogue position is moved to by off-line programing, and actual product and theoretical digital-to-analogue have error, if directly by theoretical digital-to-analogue processing, the normal direction precision that is overproof and counter boring of meeting causing hole is overproof.Current solution is the pressure foot utilized in end effector, carries out normal direction adjustment according to the pressure feedback that the laminating of the actual curved profile in drilling region produces, or adopt photographic measurement function to carry out correcting rear adjustment normal orientation and counter boring dark.Shortcoming all needs at the accurate prefabricated positioning reference holes of product parts state, then as benchmark, form certain range of work, and all carry out off-line programing based on theoretical digital-to-analogue due to all drilling programs, pose adjustment is the procedure that each drilling process all will be done.The accuracy of pose adjustment reduces drilling precision, adds the activity time of drilling.The Control Radius of the datum hole that part is prefabricated is limited, need prefabricated datum hole accurately in a large number in advance, accumulation of error during the pre-reference holes of part itself, error during assembling, all can reduce the drilling position degree precision of black box, aperture, counter boring precision, thus causes the operation of large assemblies automation drilling many, program is complicated, computing difficulty strengthens, and easily breaks down, and is difficult to ensure high efficiency, large scale, high-precision automation drilling processing.
Summary of the invention
Goal of the invention: for the problems referred to above, the object of this invention is to provide a kind of assembly automation drilling precise positioning method reducing actual value and theoretical value deviation, without the need to the complex calculation in drilling process, repeatedly calibrates, and improves machining accuracy, reduces manufacturing cost.
Technical scheme: a kind of assembly automation drilling precise positioning method, punching system is set up with five-axis robot lathe and laser tracker, product is installed on assembly jig after reaching stable drilling state, together move to Five-axis NC Machining Center and fix, laser tracker is utilized to set up coordinate system by the datum mark of assembly jig, scanning product design profile, through reverse, scanning is obtained a cloud generation entity digital-to-analogue, pass through Survey Software, position, hole nearest with product design profile mathematical point 3d space on described entity digital-to-analogue the surface automatically span, using this position, hole as the foundation of five-axis robot drilling.
By product drilling machining area division unit as required, after processing each unit, all carry out measurement and detect, to prevent the deformation effect machining accuracy in product processing.
The point cloud digital-to-analogue information generating described entity digital-to-analogue comprises the shape data collection of product drilling, the normal orientation data set in hole, hole counter boring depth data collection.
Principle of the present invention is: first, due to Five-axis NC Machining Center processing is actual product, therefore after product pre-connection part of standards part formation stabilizing component reaches drilling state, laser tracker is utilized to detect product, guarantee the error of the exact shape of product and theoretical digital-to-analogue in the reasonable scope, and obtain a cloud, through the reverse exact shape digital-to-analogue obtaining product by the profile scanning product; On the surface of exact shape digital-to-analogue, position, hole nearest with product design profile mathematical point 3d space in the automatic span of Survey Software, generates the digital-to-analogue foundation of five-axis robot with the actual apertures position of product; Second, set up unified coordinate system with the datum mark on processing tool assembly jig, and measuring basis and machining benchmark are same benchmark, there is not the error of inverting reference, can once cover whole product size, the datum hole without the need to prefabricated One's name is legion repeatedly corrects.Mainly through above 2 points, ensure the precision of the position degree of drilling, the perpendicular degree of method, the counter boring degree of depth.
Beneficial effect: compared with prior art, advantage of the present invention improves machining accuracy, eliminate the complex calculation in drilling process, repeatedly calibrate, the mismachining tolerance of Five-axis NC Machining Center and frock measure error are all counted, the position degree of final machining hole controls 0.05, and the normal direction precision in aperture can reach 90 ± 0.15 °, and the dark precision of counter boring nest can reach ± 0.04mm, aperture size can reach H7 precision, is better than automation drilling code requirement; The a set of collection that five-axis robot lathe and laser tracker are set up is detected and the automation punching system of drilling, the expensive end effector of current automation drilling equipment indispensability can be substituted completely, and five-axis robot lathe and laser tracker can process for part separately and spare part is measured, reduce manufacturing cost, production efficiency is maximized.
Accompanying drawing explanation
Fig. 1 is the schematic diagram setting up full machine coordinate system with the datum hole on frock assembly jig;
Fig. 2 is the exact shape of rib and the deviation schematic diagram of theoretical profile.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
For certain large aircraft aileron, set forth the specific implementation process of the inventive method.
After assembling and positioning aileron middle rib, pre-connection part of standards part forms stabilizing component and reaches drilling state, namely certain rigidity self is possessed, can be clamped on assembly jig, meet Five-axis NC Machining Center and add indeformable state in man-hour, be transported to Five-axis NC Machining Center, for processing remaining standard piece bores.
As shown in Figure 1, set up full machine coordinate system with the datum hole on frock assembly jig, accompanying drawing mark 1,2,3 is the datum hole setting up coordinate system in frock 4.Utilize and laser scanning inspection is carried out to product rib, guarantee that the error of the exact shape of product and theoretical digital-to-analogue is within the scope of code requirement.Now because the foozle etc. of the foozle of rib part, rigging error, frock runs up to overall error, the actual drilling processing curve of rib and theoretical digital-to-analogue can be caused to there are differences, utilize laser tracker to scan product and obtain exact shape cloud data collection.
To scan the exact shape digital-to-analogue in the drilling region of the reverse generation product of some cloud obtained by Catia software analysis, digital-to-analogue information comprises shape data collection, the normal orientation data set in hole, the hole counter boring depth data collection of product drilling.For ensureing the uniqueness of data configuration management, position, hole information is on the surface of exact shape digital-to-analogue, hole count mould nearest with position, theoretical hole 3d space in the automatic span of software, generate the digital-to-analogue foundation of five-axis robot with position, the hole Surface Method of actual product to digital-to-analogue, thus ensure the normal direction of drilling and the precision of the counter boring degree of depth.
The attached part of theory digital-to-analogue profile that Figure 2 shows that rib, dash area is the error between theoretical profile and exact shape, and through measuring, this error is within allowed band.
Numerical control edits and processes program according to digital-to-analogue, coordinate system is set up using the datum hole in frock as machining benchmark during manufacture, measuring basis and the machining benchmark of setting up digital-to-analogue are like this same benchmark, there is not the error of inverting reference, improve the accuracy of manufacture of product, and only can set up a coordinate system just whole product of energy time processing, without the need to the datum hole of prefabricated One's name is legion, without the need to repeatedly correcting, the accumulation of error can not be caused and affect Product Precision.
The final inspection in hole, the position degree in hole controls 0.05, and the normal direction precision in aperture can reach 90 ± 0.15 °, and the dark precision of counter boring nest can reach ± 0.04mm, and aperture size can reach H7 precision, is better than automation drilling code requirement.
Claims (3)
1. an assembly automation drilling precise positioning method, it is characterized in that: set up punching system with five-axis robot lathe and laser tracker, product is installed on assembly jig after reaching stable drilling state, together move to Five-axis NC Machining Center and fix, coordinate system is set up by the datum mark of assembly jig, laser tracker is utilized to scan product design profile, through reverse, scanning is obtained a cloud generation entity digital-to-analogue, pass through Survey Software, position, hole nearest with product design profile mathematical point 3d space on described entity digital-to-analogue the surface automatically span, using this position, hole as the foundation of five-axis robot drilling.
2. assembly automation drilling precise positioning method according to claim 1, is characterized in that: by product drilling machining area division unit as required, after processing each unit, all carries out measurement and detects.
3. assembly automation drilling precise positioning method according to claim 1, is characterized in that: the some cloud digital-to-analogue information generating described entity digital-to-analogue comprises the shape data collection of product drilling, the normal orientation data set in hole, hole counter boring depth data collection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310475511.4A CN103522126B (en) | 2013-10-12 | 2013-10-12 | Assembly automation drilling precise positioning method |
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| CN201310475511.4A CN103522126B (en) | 2013-10-12 | 2013-10-12 | Assembly automation drilling precise positioning method |
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| CN103522126A CN103522126A (en) | 2014-01-22 |
| CN103522126B true CN103522126B (en) | 2015-09-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103759646B (en) * | 2014-01-27 | 2016-02-24 | 哈尔滨飞机工业集团有限责任公司 | A kind of method utilizing threaded hole location and installation keeper |
| CN104006756A (en) * | 2014-06-12 | 2014-08-27 | 沈阳飞机工业（集团）有限公司 | Method for rapidly measuring deformation of assembled aircraft web part |
| CN105538016B (en) * | 2016-03-18 | 2017-09-29 | 沈阳飞机工业（集团）有限公司 | A kind of numerical control increases part frock and its speedy erection system |
| CN106141809A (en) * | 2016-07-13 | 2016-11-23 | 航天海鹰(镇江)特种材料有限公司 | The pinpoint method of frock |
| CN106017326B (en) * | 2016-08-02 | 2018-07-27 | 清华大学 | Gantry drilling lathe positional accuracy evaluation method |
| CN108127483B (en) * | 2018-01-30 | 2020-03-31 | 深圳市圆梦精密技术研究院 | Numerical control machining positioning method for curved surface part |
| CN110587379B (en) * | 2019-09-26 | 2021-04-06 | 安徽巨一科技股份有限公司 | Hole probing method of flow drill screwing equipment |
| CN111496289B (en) * | 2020-04-08 | 2021-08-10 | 清华大学 | Multifunctional integrated aviation assembly hole making system and use method thereof |
| CN111702490B (en) * | 2020-06-17 | 2021-12-24 | 陕西飞机工业（集团）有限公司 | Automatic finish machining process method for end faces of assembly butt joint parts |
| CN112197696B (en) * | 2020-08-24 | 2022-11-11 | 北京卫星制造厂有限公司 | Load interface hole making template adjusting and testing method based on integral optimization algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3248086B2 (en) * | 1994-01-20 | 2002-01-21 | セイコープレシジョン株式会社 | Mark position detection method and workpiece drilling method |
| JP2000338120A (en) * | 1999-06-01 | 2000-12-08 | Oputeikon:Kk | Revolution counter for drill boring machine |
| CN101413348B (en) * | 2008-11-28 | 2010-06-23 | 中冶京唐建设有限公司 | Steel structure three-dimensional scanning observe and control method |
| KR101326249B1 (en) * | 2012-01-11 | 2013-11-11 | 주식회사 유도 | Hole Drilling Apparatus for Work Piece |
| CN102679891A (en) * | 2012-01-15 | 2012-09-19 | 河南科技大学 | Laser detection method for thickness variation of thin-walled stamping part |
| CN102773524A (en) * | 2012-08-01 | 2012-11-14 | 西北工业大学 | Hole making method with alignment based on machine vision |
| CN102794491B (en) * | 2012-08-22 | 2014-05-07 | 浙江大学 | Device and method of automatic helical milling of hole |
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