CN106584206B - A kind of drilling normal direction modification method of automatic drill riveter - Google Patents
A kind of drilling normal direction modification method of automatic drill riveter Download PDFInfo
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- CN106584206B CN106584206B CN201611025556.1A CN201611025556A CN106584206B CN 106584206 B CN106584206 B CN 106584206B CN 201611025556 A CN201611025556 A CN 201611025556A CN 106584206 B CN106584206 B CN 106584206B
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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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
- B23Q15/26—Control or regulation of position of tool or workpiece of angular position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J15/00—Riveting
- B21J15/10—Riveting machines
- B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
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- Mechanical Engineering (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The invention discloses a kind of normal direction modification methods in automatic Drilling/Riveting mechanism hole, this method is primarily based on the reading of four laser displacement sensors, the deviation of directivity at the hole position to be processed of aircraft target ship surface between normal direction and tool axis is calculated using line-of-sight course or four-point method, the current pose for being then based on this deviation and boring and riveting machine calculates the targeted attitude of boring and riveting machine, and passes through the amendment of its drilling normal direction of the movement realization of boring and riveting machine.The drilling Norma l deviation of automatic drill riveter can be adapted within 0.1 ° using the method for the present invention, and calculating process is simplified while ensureing that drilling normal direction corrects precision.
Description
Technical field
The invention belongs to aircraft digital assembly automations to bore riveting field, be related to a kind of drilling normal direction of automatic drill riveter and repair
Correction method.
Background technology
In aircraft assembly, riveting is still main connection method.Traditional hand riveting's working condition is poor, production effect
Rate is low, and riveting quality depends critically upon the experience and technology of worker, it is difficult to meet the requirement of aircraft assembly.The mechanization of riveting and
Automation is the inexorable trend of riveting technology development.In terms of automatic Drilling/Riveting, external research and application to the relevant technologies is
It is more mature, such as EI, GEMCOR, BROETJE equipment supplier has developed respective automatic drill riveter respectively, and be applied successfully
In the numeric terminal of Multiple Type aircraft；And domestic aircratfsman and scientific research institutions also began to independently grind in recent years
From dynamic boring and riveting machine, to improve the quality and efficiency of boring riveting.
Automatic drill riveter is during drilling, due to aircraft target ship assembling manufacturing error and automatic drill riveter position error
Influence, aircraft target ship surface hole to be processed will produce certain deviation at position between normal direction and tool axis direction.Normal direction is inclined
Difference is excessive, will directly affect drilling machining accuracy and aircraft assembling quality, while reducing cutting-tool's used life, it is seen that boring
The detection and amendment of Norma l deviation are very important during riveting.Currently existing scholar proposes a variety of methods to correct drilling
When Norma l deviation, as document " aircraft assembly in the parallel institution normal direction adjustment algorithm based on 3-PRS, Zou Jihua, Zhou Wanyong,
" aviation drilling robot ending vertical degree is intelligently adjusted for Han Xian states China Mechanical Engineerings, 2011,22 (5), 557-560 " and document
Section method, public cyclopentadienyl shake, Yuan Peijiang, Wang Tianmiao wait BJ University of Aeronautics & Astronautics journal, 2012,38 (10), 1400-1404 ".This
A little methods can be effectively reduced Norma l deviation when drilling, but calculate complex, realization process difficulty.
Invention content
In order to meet requirement of the aircraft target ship drilling in the process to vertical precision, the present invention proposes a kind of automatic drill riveter
Drilling normal direction modification method, this method not only can guarantee drilling machining accuracy but also can simplify calculating process.
The capital equipment that this method uses is four laser displacement sensors on boring and riveting machine presser feet, boring and riveting machine work
Has establishment of coordinate system at presser feet end face center, four laser displacement sensors are evenly distributed on the axis centered on presser feet axis
On cylindrical surface, and the line of two neighboring laser displacement sensor is parallel with tool coordinates system X-axis or Y-axis respectively.
A kind of drilling normal direction modification method of automatic drill riveter, specifically comprises the following steps：
(1) boring and riveting machine moves at hole position to be processed；
(2) reading of four laser displacement sensors is read；
(3) according to the reading of laser displacement sensor, the drift angle α that automatic drill riveter is rotated around tool coordinates system X-axis is calculated
With the drift angle β rotated around tool coordinates system Y-axis；
(4) according to drift angle α and drift angle β, the angles drilling Norma l deviation θ of automatic drill riveter are calculated；
(5) judge whether the angles θ are less than 0.1 °, if it is not, step (6) is executed, if so, terminating to correct；
(6) axial, the drift angle α and drift angle β according to the current drilling of automatic drill riveter, calculates the target system of automatic drill riveter
Hole is axial, and the direction of the movement adjustment drilling axis by automatic drill riveter, then branches to step (2).
In step (3), the calculating step of drift angle α and drift angle β are：
(3-1) judges whether the reading of four laser displacement sensors is effective, if the reading of four laser displacement sensors
Number is effective, executes step (3-2), if the reading of three laser displacement sensors is effective, executes step (3-3), if few
It is effective in the reading of three laser displacement sensors, execute step (3-4)；
Drift angle α and drift angle β is calculated using four-point method according to the valid reading of four laser displacement sensors in (3-2)；
Drift angle α and drift angle β is calculated using line-of-sight course according to the valid reading of three laser displacement sensors in (3-3)；
(3-4) reports an error processing.
In step (3-1), when the hot spot of laser displacement sensor beats the surface near Kong Kongwei to be processed, without beating
To in machined hole or outside workpiece, then it is assumed that the reading of the laser displacement sensor is effective, otherwise it is assumed that the laser displacement passes
The reading of sensor is invalid.
In step (3-2), the calculating step of the four-point method is：
(3-2-1) combine four laser displacement sensors direction coefficient calculate separately its to workpiece surface it is vertical away from
From；
(3-2-2) calculating instrument coordinate system X-axis laser displacement sensor of side two to workpiece surface vertical range
One average value, and the calculating instrument coordinate system X-axis laser displacement sensor of the other side two is to the second of workpiece surface vertical range
Average value；
(3-2-3) is according to the first average value, the distance meter of the symmetrical hot spot of the second average value and tool coordinates system X-axis both sides
Calculation obtains drift angle α；
(3-2-4) calculating instrument coordinate system Y-axis laser displacement sensor of side two to workpiece surface vertical range
Three average values, and calculate the laser displacement sensor of the Y-axis other side two to workpiece surface vertical range the 4th average value；
(3-2-5) is according to third average value, the distance meter of the symmetrical hot spot of the 4th average value and tool coordinates system Y-axis both sides
Calculation obtains drift angle β.
In step (3-3), the calculating step of the line-of-sight course is：
(3-3-1) combine three laser displacement sensors direction coefficient calculate separately its to workpiece surface it is vertical away from
From；
(3-3-2) is according to monosymmetric two laser displacement sensors of tool coordinates system X-axis to the vertical of workpiece surface
Distance and the distance of the two laser displacement sensor hot spots calculate drift angle α；
(3-3-3) is according to monosymmetric two laser displacement sensors of tool coordinates system Y-axis to the vertical of workpiece surface
Distance and the distance of the two laser displacement sensor hot spots calculate drift angle β.
The caliberating device that the acquisition of the direction coefficient of four laser displacement sensors is used is：
The scaling board is equipped with mounting hole and fabrication hole；
The mounting hole is located at scaling board center；
The fabrication hole is the hole of multigroup arrangement that is square, and every group includes four holes, and each hole is located at rectangular vertex,
Rectangular center is located at the center of scaling board, and the length of side of every group of fabrication hole group squarely is different, center overlaps and the length of side is parallel.
Preferably, the fabrication hole is three groups, three rectangular length of sides of fabrication hole composition are different, center overlaps and
The length of side is parallel.
Specifically comprised the following steps using the method that the caliberating device obtains four laser displacement sensor direction coefficients：
A, scaling board is installed on main shaft by plug, main shaft will be locked after scaling board adjustment level；
B, main shaft is moved along direction of feed, and the position of four laser displacement sensors of adjustment makes its four hot spots be respectively aligned to
Four fabrication holes of scaling board one of which fix four organized squarelys of fabrication hole of four laser displacement sensors and record
The length of side；
C, main shaft continues to move along direction of feed, and scaling board is made to be adjacent to presser feet end face, and four laser displacement sensors are read
Number zero setting；
D, main shaft moves to first position along direction of feed, records the reading l of four laser displacement sensors respectively11、
l21、l31And l41；
E, main shaft continues to move to the second position, records the reading l of four laser displacement sensors respectively12、l22、l32With
l42；
F, according to reading l11、l21、l31、l41、l12、l22、l32And l42, calculate the direction of four laser displacement sensors
Coefficient：
Wherein, L is the distance between first position and the second position.
In step (4), the computational methods at the automatic Drilling/Riveting mechanism hole angles Norma l deviation θ are：
In step (6), the calculating step of the automatic drill riveter targeted attitude is：
(6-1) reads from the current drilling axis direction N of Dong drill rivetersc：
Nc=[Ncx Ncy Ncz]T
(6-2) calculates attitude misalignment matrix Δ R according to drift angle α and drift angle β：
(6-3) according to the following formula Ji calculate Zi Dong drill riveters target drilling axis direction Nt：
Nt=Δ R × Nc。
The advantages of drilling normal direction modification method of automatic drill riveter of the present invention：
(1) the drilling Norma l deviation of automatic drill riveter can be adapted within 0.1 °；
(2) while ensureing that drilling normal direction corrects precision, calculating process is simplified；
(3) in the calculating of Norma l deviation, the direction coefficient of laser displacement sensor is used, sensor and knife have been taken into account
Has the case where parallel installation of axis and angled installation；
(4) in the calculating of Norma l deviation, two methods of line-of-sight course and four-point method are used, three and four has been taken into account and has swashed
Optical displacement sensor reads effective situation.
Description of the drawings
Fig. 1 is distribution schematic diagram of the laser displacement sensor on boring and riveting machine in the present invention；
Fig. 2 is the flow diagram of drilling modification method of the present invention；
Fig. 3 is that automatic drill riveter calculates schematic diagram around tool coordinates system X-axis rotation drift angle α；
Fig. 4 is that automatic drill riveter calculates schematic diagram around tool coordinates system Y-axis rotation drift angle β.
Specific implementation mode
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific implementation mode is to technical scheme of the present invention
It is described in detail.
As shown in Figure 1, the capital equipment that the method for the present invention uses is four laser on automatic drill riveter presser feet
Displacement sensor, respectively laser displacement sensor S1, laser displacement sensor S2, laser displacement sensor S3 and laser displacement
Sensor S4, automatic drill riveter tool coordinates system OXYZIt establishes at presser feet end face center, four laser displacement sensors uniformly divide
Cloth is centered on by presser feet axis on the cylindrical surface of axis, and the line of two neighboring laser displacement sensor is sat with tool respectively
Mark system X-axis or Y-axis are parallel.
As shown in Fig. 2, the drilling normal direction modification method of automatic drill riveter of the present invention includes the following steps：
Step 1, boring and riveting machine moves at hole position to be processed.
Step 2, the reading l of four laser displacement sensors is read1For 18.383mm, l2For 17.652mm, l3For
17.408mm and l4For 17.687mm.
Step 3, according to the reading of laser displacement sensor, calculating automatic drill riveter rotates inclined around tool coordinates system X-axis
The angle α and drift angle β rotated around tool coordinates system Y-axis；
In this step, when the hot spot of laser displacement sensor beats the surface near Kong Kongwei to be processed, without getting to
In machined hole or outside workpiece, then it is assumed that the reading of the laser displacement sensor is effective, otherwise it is assumed that the laser displacement senses
The reading of device is invalid.
If the reading of four laser displacement sensors is effective, drift angle α and drift angle β is calculated using four-point method, specifically
Method is as follows：
As shown in figure 3, first, laser displacement sensor is calculated separately in conjunction with the direction coefficient of four laser displacement sensors
To the vertical range l ' of workpiece surface1、l′2、l′3With l '4；Specific formula for calculation is as follows：
l′1=l1×c1=18.383 × 0.8636=15.876mm
l′2=l2×c2=17.652 × 0.8637=15.246mm
l′3=l3×c3=17.408 × 0.8665=15.084mm
l′4=l4×c4=17.687 × 0.8576=15.168mm
Wherein, c1、c2、c3And c4The direction coefficient of respectively four laser displacement sensors；
The caliberating device that the acquisition of the direction coefficient of four laser displacement sensors is used is：
The scaling board is equipped with mounting hole and fabrication hole；
The mounting hole is located at scaling board center；
The fabrication hole is the hole of three groups of arrangements that are square, and every group includes four holes, and each hole is located at rectangular vertex,
Rectangular center is located at the center of scaling board, and the length of side of every group of fabrication hole group squarely is different, center overlaps and the length of side is parallel.
Specifically comprised the following steps using the method that the caliberating device obtains four laser displacement sensor direction coefficients：
A, scaling board is installed on main shaft by plug, main shaft will be locked after scaling board adjustment level；
B, main shaft is moved along direction of feed, and the position of four laser displacement sensors of adjustment makes its four hot spots be respectively aligned to
Four fabrication holes of scaling board one of which fix four organized squarelys of fabrication hole of four laser displacement sensors and record
The length of side；
C, main shaft continues to move along direction of feed, and scaling board is made to be adjacent to presser feet end face, and four laser displacement sensors are read
Number zero setting；
D, main shaft moves to first position along direction of feed, records the reading l of four laser displacement sensors respectively11For
20.661mm l21For 22.192mm, l31For 21.537mm and l41For 21.330mm；
E, main shaft continues to move to the second position, records the reading l of four laser displacement sensors respectively12For
43.819mm l22For 45.348mm, l32For 44.618mm and l42For 44.651mm；
F, according to reading l11、l21、l31、l41、l12、l22、l32And l42, calculate the direction of four laser displacement sensors
Coefficient：
Wherein, L is the distance between first position and the second position, the present embodiment L=20mm.
Then, average values of the calculating laser displacement sensor S1 and laser displacement sensor S2 to workpiece surface vertical range
l′12And laser displacement sensor S3 and laser displacement sensor S4 to the average value l ' of workpiece surface vertical range34, specifically
Calculation formula is as follows：
Next, calculating drift angle α, specific formula for calculation is as follows：
Wherein, dyWhen parallel with workpiece surface for boring and riveting machine presser feet end face, laser displacement sensor S1 is passed with laser displacement
Hot spot distance between sensor S4 or the hot spot distance between laser displacement sensor S2 and laser displacement sensor S3, this implementation
In example, dy=53mm；
As shown in figure 4, calculating laser displacement sensor S1 and laser displacement sensor S4 to workpiece surface vertical range
Average value l '14And laser displacement sensor S2 and laser displacement sensor S3 is to the average value of workpiece surface vertical range
l′23, specific formula for calculation is as follows：
Finally, it is as follows to calculate drift angle β：
Wherein, dxWhen parallel with workpiece surface for boring and riveting machine presser feet end face, laser displacement sensor S1 is passed with laser displacement
Hot spot distance between sensor S2 or the hot spot distance between laser displacement sensor S3 and laser displacement sensor S4, this implementation
In example, dx=53mm.
If the reading of three laser displacement sensors is effective, drift angle α and drift angle β is calculated using line-of-sight course, specifically
Method is as follows：
Assuming that three effective laser displacement sensors of reading be laser displacement sensor S1, laser displacement sensor S2 and
Laser displacement sensor S3, first, calculate separately laser displacement sensor to workpiece surface vertical range l '1、l′2With l '3,
Specific formula for calculation is as follows：
l′1=l1×c1=15.876mm
l2'=l2×c2=15.246mm
l′3=l3×c3=15.084mm
Then, drift angle α is calculated, specific formula for calculation is as follows：
Wherein, dyWhen parallel with workpiece surface for boring and riveting machine presser feet end face, laser displacement sensor S2 is passed with laser displacement
Hot spot distance between sensor S3, in the present embodiment, dy=53mm；
Finally, drift angle β is calculated, specific formula for calculation is as follows：
Wherein, dxWhen parallel with workpiece surface for boring and riveting machine presser feet end face, laser displacement sensor S1 is passed with laser displacement
Hot spot distance between sensor S2, in the present embodiment, dx=53mm.
Step 4, according to drift angle α and drift angle β, the angles drilling Norma l deviation θ of automatic drill riveter are calculated, by taking four-point method as an example：
Step 5, judge whether the angles θ are less than 0.1 °, if so, terminating to correct, if it is not, executing step 6.
Step 6, according to the current pose of automatic drill riveter, drift angle α and drift angle β, the target appearance of automatic drill riveter is calculated
State, and the direction of the movement adjustment drilling axis by automatic drill riveter, then branch to step 2.
The calculating step of automatic drill riveter targeted attitude is：
First, the current drilling axis direction N of Dong drill riveters is read fromc：
Nc=[0.003245 0.052664 0.998607]T
Then, attitude misalignment matrix Δ R is calculated according to drift angle α and drift angle β：
Finally, according to the following formula Ji calculate Zi Dong drill riveters target drilling axis direction Nt：
Nt=Δ R × Nc=[-0.003121 0.060854 0.998140]T。
Drilling is carried out by above method, can either simplify calculating process can ensure machining accuracy again.
Technical scheme of the present invention and advantageous effect is described in detail in above-described specific implementation mode, Ying Li
Solution is not intended to restrict the invention the foregoing is merely presently most preferred embodiment of the invention, all principle models in the present invention
Interior done any modification, supplementary, and equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of drilling normal direction modification method of automatic drill riveter, specifically comprises the following steps：
(1) boring and riveting machine moves at hole position to be processed；
(2) reading of four laser displacement sensors is read；
(3) according to the reading of laser displacement sensor, calculate drift angle α that automatic drill riveter is rotated around tool coordinates system X-axis and around
The drift angle β of tool coordinates system Y-axis rotation；
(4) according to drift angle α and drift angle β, the angles drilling Norma l deviation θ of automatic drill riveter are calculated；
(5) judge whether the angles θ are less than 0.1 °, if it is not, step (6) is executed, if so, terminating to correct；
(6) axial, the drift angle α and drift angle β according to the current drilling of automatic drill riveter, calculates the target drilling axis of automatic drill riveter
To, and the direction of the movement adjustment drilling axis by automatic drill riveter, then branch to step (2)；
In step (3), the calculating step of the drift angle α and drift angle β are：
(3-1) judges whether the reading of four laser displacement sensors is effective, if the reading of four laser displacement sensors is equal
Effectively, step (3-2) is executed, if the reading of three laser displacement sensors is effective, executes step (3-3), if being less than three
The reading of a laser displacement sensor is effective, executes step (3-4)；
Drift angle α and drift angle β is calculated using four-point method according to the valid reading of four laser displacement sensors in (3-2)；
Drift angle α and drift angle β is calculated using line-of-sight course according to the valid reading of three laser displacement sensors in (3-3)；
(3-4) reports an error processing.
2. the drilling normal direction modification method of automatic drill riveter according to claim 1, it is characterised in that：In step (3-2),
The calculating step of the four-point method is：
(3-2-1) combines the direction coefficient of four laser displacement sensors to calculate separately it and arrives the vertical range of workpiece surface；
(3-2-2) calculating instrument coordinate system X-axis laser displacement sensor of side two is first flat to workpiece surface vertical range
Mean value, and the calculating instrument coordinate system X-axis laser displacement sensor of the other side two is averaged to the second of workpiece surface vertical range
Value；
(3-2-3) is calculated according to the distance of the first average value, the symmetrical hot spot of the second average value and tool coordinates system X-axis both sides
To drift angle α；
The third of (3-2-4) calculating instrument coordinate system Y-axis laser displacement sensor of side two to workpiece surface vertical range is flat
Mean value, and calculate the laser displacement sensor of the Y-axis other side two to workpiece surface vertical range the 4th average value；
(3-2-5) is calculated according to the distance of third average value, the symmetrical hot spot of the 4th average value and tool coordinates system Y-axis both sides
To drift angle β.
3. the drilling normal direction modification method of automatic drill riveter according to claim 1, it is characterised in that：In step (3-3),
The calculating step of the line-of-sight course is：
(3-3-1) combines the direction coefficient of three laser displacement sensors to calculate separately it and arrives the vertical range of workpiece surface；
(3-3-2) is according to the vertical ranges of monosymmetric two laser displacement sensors of tool coordinates system X-axis to workpiece surface
And the distance of the two laser displacement sensor hot spots calculates drift angle α；
(3-3-3) is according to the vertical ranges of monosymmetric two laser displacement sensors of tool coordinates system Y-axis to workpiece surface
And the distance of the two laser displacement sensor hot spots calculates drift angle β.
4. the drilling normal direction modification method of automatic drill riveter according to claim 1, it is characterised in that：In step (4), institute
The computational methods at the automatic Drilling/Riveting mechanism hole angles Norma l deviation θ stated are：
5. the drilling normal direction modification method of automatic drill riveter according to claim 1, it is characterised in that：In step (6), from
The calculating step of dynamic boring and riveting machine targeted attitude is：
(6-1) reads from the current drilling axis direction N of Dong drill rivetersc:
Nc=[Ncx Ncy Ncz]T
(6-2) calculates attitude misalignment matrix Δ R according to drift angle α and drift angle β：
(6-3) according to the following formula Ji calculate Zi Dong drill riveters target drilling axis direction Nt：
Nt=Δ R × Nc。
6. according to the drilling normal direction modification method of automatic drill riveter described in Claims 2 or 3, it is characterised in that：Four laser positions
The caliberating device that the acquisition of the direction coefficient of displacement sensor uses for：
Scaling board；
The scaling board is equipped with mounting hole and fabrication hole；
The mounting hole is located at scaling board center；
The fabrication hole is the hole of multigroup arrangement that is square, and every group includes four holes, and each hole is located at rectangular vertex, rectangular
Center be located at the center of scaling board, the length of side of every group of fabrication hole group squarely is different, center overlaps and the length of side is parallel.
7. the drilling normal direction modification method of automatic drill riveter according to claim 6, it is characterised in that：The fabrication hole is
Three groups, three rectangular length of sides of fabrication hole composition are different, center overlaps and the length of side is parallel.
8. the drilling normal direction modification method of automatic drill riveter according to claim 7, it is characterised in that：Utilize the caliberating device
The method for obtaining four laser displacement sensor direction coefficients specifically comprises the following steps：
A, scaling board is installed on main shaft by plug, main shaft will be locked after scaling board adjustment level；
B, main shaft is moved along direction of feed, and the position of four laser displacement sensors of adjustment makes its four hot spots be respectively aligned to demarcate
Four fabrication holes of plate one of which fix four laser displacement sensors and record the side of four organized squarelys of fabrication hole
It is long；
C, main shaft continues to move along direction of feed, and scaling board is made to be adjacent to presser feet end face, and four laser displacement sensor readings are set
Zero；
D, main shaft moves to first position along direction of feed, records the reading l of four laser displacement sensors respectively11、l21、l31
And l41；
E, main shaft continues to move to the second position, records the reading l of four laser displacement sensors respectively12、l22、l32And l42；
F, according to reading l11、l21、l31、l41、l12、l22、l32And l42, calculate the direction coefficient of four laser displacement sensors：
Wherein, L is the distance between first position and the second position.
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| CN112917241B (en) * | 2021-03-02 | 2022-02-11 | 清华大学深圳国际研究生院 | Hole series form and position error correction method |
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