CN109747863A - Coupled Rigid-flexible posture adjusting system and its attitude-adjusting method - Google Patents
Coupled Rigid-flexible posture adjusting system and its attitude-adjusting method Download PDFInfo
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- CN109747863A CN109747863A CN201910027321.3A CN201910027321A CN109747863A CN 109747863 A CN109747863 A CN 109747863A CN 201910027321 A CN201910027321 A CN 201910027321A CN 109747863 A CN109747863 A CN 109747863A
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Abstract
The present invention provides a kind of Coupled Rigid-flexible posture adjusting system and its attitude-adjusting method, Coupled Rigid-flexible posture adjusting system includes conformal tooling, flexible positioning posture adjustment component, at least three rigid numerical control positioning posture adjusting devices and laser tracker.Conformal tooling includes: bracket, is connected to target workpiece；Connector is set to the marginal portion of bracket；Suspender member is fixedly installed on bracket.Flexibility positioning posture adjustment component includes flexible cable and driving mechanism, and the first end of flexible cable is connected to driving mechanism, second end is connected to suspender member.Rigid numerical control positioning posture adjusting device is located at below conformal tooling and is connected to connector.Since flexible positioning posture adjustment component and rigid numerical control positioning posture adjusting device being arranged simultaneously, thus in assembling process, rigid numerical control positioning posture adjusting device can be with the pose of flexible positioning posture adjustment components in combination control target workpiece, to improve the posture adjustment precision to target workpiece, and then improve the assembling quality of target workpiece Yu benchmark workpiece.
Description
Technical field
The present invention relates to numeric terminal technical field more particularly to a kind of Coupled Rigid-flexible posture adjusting system and its posture adjustment sides
Method.
Background technique
The siding size of large aircraft is big, rigidity is weak, structure is complicated, not easily shifted and accurate posture adjustment, and between skeleton
Assembly precision requires height, therefore assembly difficulty is larger.For example, upper lower wall panels (i.e. stressed-skin construction) ruler of large aircraft wing boxes of wings
Modest ability reaches tens of rice, when the skeleton structure pairing with wing spar and rib composition is assembled, easily deforms.Traditional
Wing assembly method is vertical assembly, and wing wallboard and skeleton structure are arranged vertically, this leads to posture of the wing in assembly
The biggish temperature difference can be generated on wing workpiece in assembling process for the wing of enormous size for improper flight attitude, from
And biggish temperature erection stress is caused, and for vertical assembly, need to be turned to aircraft normal flight shape after the assembly is completed
State equally will also result in erection stress in switching process, and the presence of erection stress can reduce assembling quality, influence aircraft
Energy.
In recent years, gradually start using the horizontal assembly method of wing to solve the above-mentioned problems.It was assembled due to horizontal
Wing is aircraft regular flight condition in journey, and the temperature difference of wing workpiece is small in assembling process, and does not need to overturn, and can preferably be subtracted
Small erection stress improves assembling quality.But in horizontal assembling process, since siding is in horizontality, wainscot is considered
It needs to be assembled with the wing box skeleton of lower part, can arrange that the position of numerical control positioning posture adjusting device can be only positioned at siding side
Edge, and can not arrange numerical control positioning posture adjusting device at an arbitrary position, so as to cause the span between numerical control positioning posture adjusting device compared with
Greatly, and then under the effect of gravity the position in the middle part of siding generates biggish deformation, even if there is the conformal tooling of siding to resist part
The influence of gravity deformation, tooling itself not can avoid equally support span it is big caused by self-deformation, thereby reduce wing
The assembling quality of siding.
Summary of the invention
In view of the problems in the background art, the purpose of the present invention is to provide a kind of Coupled Rigid-flexible posture adjusting system and its
Attitude-adjusting method uses flexible positioning posture adjustment component and rigid numerical control positioning posture adjusting device to carry out joint assembly, reduces target
Deformation of the workpiece in assembling process improves posture adjustment precision to target workpiece, and then improves target workpiece and benchmark work
The assembling quality of part.
To achieve the goals above, in a first aspect, the present invention provides a kind of Coupled Rigid-flexible posture adjusting systems comprising protect
Shape tooling, flexible positioning posture adjustment component, at least three rigid numerical control positioning posture adjusting devices and laser tracker.Conformal tooling packet
Include: bracket has the upper side and lower side along the vertical direction, and bracket is connected to target workpiece；At least three connectors, each connector
The marginal portion of bracket is fixedly installed on the downside of bracket；And multiple suspender members, each suspender member are fixed in the upside of bracket
It is set to bracket and is located at week of at least three connector inwardly, and the whole center of gravity of conformal tooling and target workpiece
Inwardly positioned at the multiple suspender member week.Flexibility positioning posture adjustment component includes more flexible cables and multiple driving mechanisms, respectively
The first end of flexible cable is connected to a corresponding driving mechanism, second end is connected to the corresponding suspender member of conformal tooling.Institute
It states at least three rigid numerical control positioning posture adjusting devices to be located at below conformal tooling and target workpiece, each rigid numerical control positioning posture adjustment
Device is connected to the corresponding connector of conformal tooling.Laser tracker, for measure conformal tooling and benchmark workpiece
Pose in assembly space.
Each driving mechanism includes: pedestal；Motor is fixedly installed on pedestal；Reel is connected to motor, and in the work of motor
It is rotated under；First pulley mechanism, is fixedly installed on pedestal；Second pulley mechanism, be fixedly installed on pedestal and with
First pulley is inter-agency every setting；Force snesor, one end is connected to pedestal, the other end is connected to first pulley mechanism；And control
Device processed, is communicatively coupled to force snesor and motor.The first end of flexible cable is connected to the reel of driving mechanism, and second end is successively
Across first pulley mechanism and second pulley mechanism, to be connected to the suspender member of conformal tooling.
Suspender member is quantitatively four, and four suspender members are in distributed rectangular, and flexible positioning posture adjustment component is soft
Property cable wire, driving mechanism and suspender member it is quantitatively consistent.
Connector is quantitatively four, and four connectors are in distributed rectangular, and rigid numerical control positioning posture adjusting device
It is quantitatively consistent with connector.
Each rigidity numerical control positioning posture adjusting device includes: the first adjusting component, for adjusting conformal tooling in the up-down direction
With the pose of target workpiece；Second adjusts component, for adjusting the pose of conformal tooling and target workpiece in the longitudinal direction；Third tune
Component is saved, for horizontally adjusting the pose of conformal tooling and target workpiece；And matching piece, it is corresponding with conformal tooling
Connector is connected to the first adjusting component with merging.
First adjusting component includes: telescopic rod, vertically extends and is connected to matching piece；First nut, is connected to
Telescopic rod；First screw rod is threadedly connected to the first nut；Belt wheel mechanism is connected to the first screw rod；First power mechanism, connection
In belt wheel mechanism；And first mounting base, installation telescopic rod, the first screw rod, belt wheel mechanism and the first power mechanism.
Second adjusting component includes: the second sliding block, is connected to the first adjusting component；Second guide rail is extended longitudinally and is slided
It is dynamic to be connected to the second sliding block；Second nut is connected to the second sliding block；Second screw rod is threadedly connected to the second nut；Second power
Mechanism is connected to the second screw rod；And second mounting base, the second guide rail of installation, the second screw rod and the second power mechanism.
It includes: third sliding block that third, which adjusts component, is connected to the second adjusting component；Third guide rail is extended transversely and is slided
It is dynamic to be connected to third sliding block；Third nut is connected to third sliding block；Third screw rod is threadedly connected to third nut；Third power
Mechanism is connected to third screw rod；And third mounting base, installation third guide rail, third screw rod and third power mechanism.
Coupled Rigid-flexible posture adjusting system further includes guidance set, and guidance set includes: mounting rail；And sliding seat, it can phase
Guide rail is slided, and the driving mechanism of flexible positioning posture adjustment component is fixedly installed on sliding seat.
In second aspect, the present invention provides a kind of attitude-adjusting methods of Coupled Rigid-flexible posture adjusting system, by first aspect institute
The Coupled Rigid-flexible posture adjusting system stated realizes that the whole gravity of conformal tooling and target workpiece is G, flexible cable and driving mechanism
It is quantitatively n, rigid numerical control positioning posture adjusting device is quantitatively m, and the motor of each driving mechanism has position control mould
Formula and force control mode, the attitude-adjusting method of the Coupled Rigid-flexible posture adjusting system include step S1-S8.
S1, in assembly space, fixed setting benchmark workpiece arranges laser tracker and assembles conformal tooling, target work
Part and flexible positioning posture adjustment component.
S2 is obtained conformal tooling and the current spatial pose of benchmark workpiece respectively by laser tracker, thereby determined that
Relative position between conformal tooling and benchmark workpiece.
The motor of each driving mechanism of flexible positioning posture adjustment component is arranged to position control mode by S3, and motor passes through volume
Cylinder, first pulley mechanism, second pulley mechanism controls flexible cable carry out stretching motion, with the conformal tooling of coarse adjustment and target workpiece
Pose, wherein conformal tooling and target workpiece through it is flexible position the coarse adjustment of posture adjustment component after state be denoted as original state.
S4 records the pulling force { f of flexible cable in the initial state of the force sensor measuring of all driving mechanisms outi}=
{f1,f2,f3…fn(i=1,2,3 ... n), then total resultant force F=f of the more flexible cables1+f2+f3+…+fn, and have:
Fx=0
Fy=0
Fz=F=G
Wherein, Fx、Fy、FzPoint of the total resultant force F of the respectively described more flexible cables in transverse direction, longitudinal direction, up and down direction
Power.
S5, mobile described at least three rigid numerical control positioning posture adjusting devices, and will each rigidity numerical control positioning posture adjusting device
Connector connection corresponding with conformal tooling.
The motor of each driving mechanism of flexible positioning posture adjustment component is arranged to force control mode by S6, and by flexible fixed
Position posture adjustment component adjusts flexible cable to the pulling force of conformal tooling and target workpiece, so that described at least three rigid numerical control positionings
Posture adjusting device supports conformal tooling and target workpiece, and the pulling force of the more flexible cables described at this time is { fi'={ f1′,f2′,
f3′…fn' (i=1,2,3 ... n), at least three rigid numerical control positioning posture adjusting devices support force be { Nj}={ N1,N2,
N3…Nm(j=1,2,3 ... m), then total resultant force F'=f of the more flexible cables1′+f2′+f3′+…+fn', it is described at least
Total support force N=N of three rigid numerical control positioning posture adjusting devices1+N2+N3+…+Nm, and have:
F'=α F < G
Fx'=0
Fy'=0
Fz'=F'=α G
N=G-Fz'=(1- α) G
Wherein, α is gravity compensation coefficient and 0 < α < 1.
S7, by the mobile conformal tooling of at least three rigidity numerical control positioning posture adjusting device and target workpiece, until will
To assembly pose, and during described at least three rigid numerical control positioning posture adjusting device accurate adjustments, flexibility is positioned for target workpiece accurate adjustment
Posture adjustment component keeps total resultant force F' of the more flexible cables constant, i.e. F'=α F < G.
S8, at least three rigid numerical control positioning posture adjusting devices by target workpiece accurate adjustment to after assembling pose, it is described more
Total resultant force of root flexible cable is 0, first releases the force control mode of the motor of flexible positioning posture adjustment component at this time, then is released described
Connection and conformal tooling between more flexible cables, at least three rigid numerical control positioning posture adjusting devices and conformal tooling
Connection between target workpiece, posture adjustment pairing are completed.
Beneficial effects of the present invention are as follows:
In Coupled Rigid-flexible posture adjusting system of the invention, since flexible positioning posture adjustment component and rigid numerical control being arranged simultaneously
Posture adjusting device is positioned, thus in the assembling process of target workpiece and benchmark workpiece, rigid numerical control positioning posture adjusting device can be with
Flexibility positioning posture adjustment components in combination controls the pose of conformal tooling and target workpiece, is adjusted so as to avoid independent using flexible positioning
The inaccurate problem of the positioning of appearance component, at the same avoid individually using the span of rigid numerical control positioning posture adjusting device it is excessive and
Conformal tooling and target workpiece under the effect of gravity caused by problem on deformation, which thereby enhance the posture adjustment precision to target workpiece,
And then improve the assembling quality of target workpiece Yu benchmark workpiece.
Detailed description of the invention
Fig. 1 is the perspective view of Coupled Rigid-flexible posture adjusting system of the invention.
Fig. 2 is the connection relationship diagram of the flexible positioning posture adjustment component in Fig. 1.
Fig. 3 is the perspective view of the rigid numerical control positioning posture adjusting device in Fig. 1.
Fig. 4 is the inside connection relationship diagram of the first adjusting component of rigid numerical control positioning posture adjusting device.
Fig. 5 is the perspective view of the second adjusting component of rigid numerical control positioning posture adjusting device.
Fig. 6 is that the third of rigid numerical control positioning posture adjusting device adjusts the perspective view of component.
When Fig. 7 is that Coupled Rigid-flexible posture adjusting system of the invention assembles target workpiece and benchmark workpiece, conformal tooling and target
Stress diagram of workpiece during posture adjustment.
Wherein, the reference numerals are as follows:
1 conformal 321 second sliding block of tooling
11 bracket, 322 second guide rail
12 connector, 323 second nut
13 suspender member, 324 second screw rod
2 flexible positioning 325 second power mechanisms of posture adjustment component
21 flexible cable, 326 second mounting base
22 driving mechanism, 327 second supporting table
221 pedestal, 33 third adjusts component
222 motor, 331 third sliding block
223 reel, 332 third guide rail
224 first pulley mechanism, 333 third nut
225 second pulley mechanism, 334 third screw rod
226 force snesor, 335 third power mechanism
227 retarder, 336 third mounting base
3 rigid 34 matching pieces of numerical control positioning posture adjusting device
31 first adjust 4 guidance set of component
311 telescopic rod, 41 mounting rail
312 first nut, 42 sliding seat
313 first screw rod X are lateral
314 belt wheel mechanism Y are longitudinal
315 first power mechanism Z up and down directions
316 first mounting base B target workpieces
32 second adjust component
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
In the description of the present application unless specifically defined or limited otherwise, term " first ", " second ", " third " are only
For descriptive purposes, it is not understood to indicate or imply relative importance；Term " multiple " refers to two or more；
Unless otherwise prescribed or explanation, term " connection " shall be understood in a broad sense, for example, " connection " may be a fixed connection, be also possible to
It is detachably connected, or is integrally connected, or electrical connection or signal connection；" connection " can be directly connected, can also be in
Between medium be indirectly connected.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in application.
In the description of this specification, it is to be understood that "upper", "lower" described in the embodiment of the present application, etc. the nouns of locality
It is to be described with angle shown in the drawings, should not be construed as the restriction to the embodiment of the present application.In addition, in context
In, it is also necessary to understanding can not only be direct when mentioning an element and being connected to another element "upper" or "lower"
Be connected to another element "upper" perhaps "lower" can also be indirectly coupled to by intermediary element another element "upper" or
"lower".The application is described in further detail below by specific embodiment and in conjunction with attached drawing.
Illustrate the Coupled Rigid-flexible posture adjusting system according to the application first aspect first.
The Coupled Rigid-flexible posture adjusting system of the application is used to target workpiece B being assemblied in benchmark workpiece.In assembly space, base
Quasi- workpiece fixed setting, and target workpiece B is adjusted to assembly pose by the Coupled Rigid-flexible posture adjusting system, is achieved in target
Workpiece B and benchmark workpiece are aligned, are bonded to complete to assemble.Wherein, Coupled Rigid-flexible posture adjusting system of the invention can be applied to greatly
The assembly of type aircraft components, such as skeleton that benchmark workpiece is wing boxes of wings, the siding that target workpiece B is wing boxes of wings.
Referring to Figure 1 to Figure 7, the Coupled Rigid-flexible posture adjusting system of the application include conformal tooling 1, flexible positioning posture adjustment component 2,
At least three rigid numerical control positioning posture adjusting devices 3, guidance set 4, laser tracker (not shown) and control system (are not shown
Out).
Conformal tooling 1 is connect with target workpiece B, for fixed in assembling process, protection target workpiece B to reduce target
The deformation of workpiece B.Referring to Fig.1, conformal tooling 1 includes: bracket 11, and Z has the upper side and lower side along the vertical direction, and bracket 11 connects
It is connected to target workpiece B；At least three connectors 12, each connector 12 are fixedly installed on the edge of bracket 11 in the downside of bracket 11
Part；And multiple suspender members 13, each suspender member 13 bracket 11 be fixedly arranged at the upper side in bracket 11 and be located at it is described at least
The week of three connectors 12, and conformal tooling 1 and the whole center of gravity of target workpiece B were located at the multiple suspender member 13 weeks inwardly
Inwardly.
In order to guarantee the intensity of conformal tooling 1, bracket 11 can be the truss structure formed by multiple stringers and multiple crossbeams.
Flexibility positioning posture adjustment component 2 is connected to multiple suspender members 13 of conformal tooling 1, so that conformal tooling 1 and target work
Part B is suspended on flexible 2 lower section of positioning posture adjustment component.Referring to Figure 1 and Figure 3, flexible positioning posture adjustment component 2 may include more flexible steels
Rope 21 and multiple driving mechanisms 22, the first end of each flexible cable 21 are connected to a corresponding driving mechanism 22, second end connection
In the corresponding suspender member 13 of conformal tooling 1.Wherein, flexible cable 21 and the suspender member 13 of conformal tooling 1 are quantitatively consistent,
Preferably, suspender member 13 is quantitatively four, and four suspender members 13 are in distributed rectangular.
Referring to Fig.1, described at least three rigid numerical control positioning posture adjusting devices 3 are located at conformal 1 lower section of tooling, each rigidity numerical control
Positioning posture adjusting device 3 is used to connect with the corresponding connector 12 of conformal tooling 1 and can assemble under control of the control system
It is moved freely in space.Wherein, rigid numerical control positioning posture adjusting device 3 is quantitatively consistent with the connector 12 of conformal tooling 1, excellent
Selection of land, connector 12 are quantitatively four, and four connectors 12 are in distributed rectangular.
Laser tracker is calculated for measuring conformal tooling 1, benchmark workpiece respectively in the pose in assembly space
Relative pose relationship between conformal tooling 1 and benchmark workpiece out.
In the Coupled Rigid-flexible posture adjusting system of the application, since flexible positioning posture adjustment component 2 and rigid number being arranged simultaneously
Control positioning posture adjusting device 3, thus in the assembling process of target workpiece B and benchmark workpiece, rigid 3 energy of numerical control positioning posture adjusting device
Enough poses for jointly controlling conformal tooling 1 and target workpiece B with flexible positioning posture adjustment component 2, so as to avoid individually using soft
Property positioning posture adjustment component 2 the inaccurate problem of positioning, while avoid individually using rigid numerical control positioning posture adjusting device 3 across
Problem on deformation caused by spending big and conformal tooling 1 and target workpiece B under the effect of gravity (especially conformal tooling 1 and mesh
Mark the deformation at position among workpiece B), the posture adjustment precision to target workpiece is which thereby enhanced, and then improve target workpiece and base
The assembling quality of quasi- workpiece.
For the deformation for further decreasing conformal tooling 1 and target workpiece B is generated in assembling process, can suitably increase soft
Property the positioning flexible cable 21 of posture adjustment component 2, the quantity of driving mechanism 22 and the quantity of rigid numerical control positioning posture adjusting device 3.
Referring to Fig. 2, each driving mechanism 22 of flexibility positioning posture adjustment component 2 can include: pedestal 221；Motor 222, fixation are set
It is placed in pedestal 221；Reel 223 is connected to motor 222, and reel 223 is rotated to roll up under the action of motor 222
Play or discharge flexible cable 21；First pulley mechanism 224 is fixedly installed on pedestal 221；Second pulley mechanism 225, fixed setting
Setting is spaced in pedestal 221 and with first pulley mechanism 224；Force snesor 226, one end are connected to pedestal 221, other end connection
In first pulley mechanism 224；And controller (such as PID), be communicatively coupled to force snesor 226 and motor 222, with by adjusting
The revolving speed of motor 222 controls the stretching motion of flexible cable 21.The first end of flexible cable 21 is connected to driving mechanism 22
Reel 223, second end sequentially pass through first pulley mechanism 224 and second pulley mechanism 225, to be connected to hanging for conformal tooling 1
Pendant 13.
In the assembling process of target workpiece B and benchmark workpiece, force snesor 226 is right for real-time monitoring flexible cable 21
The pulling force of conformal tooling 1 and target workpiece B, and the pulling force of every flexible cable 21 can be controlled by closed-loop control system, by
This realizes hanging supporting role of the flexible positioning posture adjustment component 2 to conformal tooling 1 and target workpiece B.Also, it is based on force snesor
The 226 pulling force numerical value obtained, flexibility positioning posture adjustment component 2 can be adjusted the pulling force of flexible cable 21 and be made by driving mechanism 22
Component of the total resultant force of the more flexible cables 21 in above-below direction on Z is less than conformal tooling 1 and the entirety weight of target workpiece B
Power, so that rigid numerical control positioning posture adjusting device 3 supports conformal tooling 1 and target workpiece B, it is flexible at this time to position posture adjustment group
Part 2 resists conformal tooling 1 and the whole gravity of target workpiece B with rigid numerical control positioning posture adjusting device 3 together, thus reduces guarantor
The deformation that shape tooling 1 and target workpiece B are generated in assembling process.
Referring to Fig. 2, each driving mechanism 22 further include: retarder 227 is set between motor 222 and reel 223 and connects
In motor 222 and reel 223.
Referring to Fig. 3 to Fig. 6, each rigidity numerical control positioning posture adjusting device 3 can include: first adjusts component 31, for upper and lower
The pose of conformal tooling 1 and target workpiece B is adjusted on the Z of direction；Second adjusts component 32, for adjusting conformal work on longitudinal Y
Fill the pose of 1 and target workpiece B；Third adjusts component 33, for adjusting the position of conformal tooling 1 and target workpiece B on lateral X
Appearance；And matching piece 34, the first adjusting component 31 is connected to merging with the corresponding connector 12 of conformal tooling 1.Wherein, respectively
The matching piece 34 of rigid numerical control positioning posture adjusting device 3 is formed as ball head structure, and the connector 12 of conformal tooling 1 is formed as ball
Nest structure thereby ensures that matching piece 34 matches with corresponding connector 12, to make each rigid numerical control in assembling process
Positioning posture adjusting device 3 supports conformal tooling 1 and target workpiece B by matching piece 34.
Specifically, component 31 is adjusted referring to Fig. 4, first can include: telescopic rod 311, Z extends and is connected to along the vertical direction
Matching piece 34；First nut 312, is connected to telescopic rod 311；First screw rod 313 is threadedly connected to the first nut 312；Band turbine
Structure 314 is connected to the first screw rod 313；First power mechanism 315, is connected to belt wheel mechanism 314；And first mounting base 316,
Telescopic rod 311, the first screw rod 313, belt wheel mechanism 314 and the first power mechanism 315 are installed.
During the posture adjustment that first adjusts component 31, the first power mechanism 315 drives first by belt wheel mechanism 314
313 rotary motion of bar, the first nut 312 drives telescopic rod 311 under the action of the first screw rod 313, and Z is stretched along the vertical direction
Contracting movement.
Component 32 is adjusted referring to Fig. 5, second can include: the second sliding block 321 is connected to the first peace of the first adjusting component 31
Fill seat 316；Second guide rail 322, Y extends and is slidably connected to the second sliding block 321 along longitudinal direction；Second nut 323, is connected to second
Sliding block 321；Second screw rod 324 is threadedly connected to the second nut 323；Second power mechanism 325 is connected to the second screw rod 324；
And second mounting base 326, the second guide rail 322 of installation, the second screw rod 324 and the second power mechanism 325.Wherein, second is sliding
Block 321 is quantitatively the first mounting bases 316 multiple, that the multiple second sliding block 321 directly can adjust component 31 with first
Connection can also adjust the first of component 31 by being set to the second platform 327 and first of the multiple second sliding block, 321 top
Mounting base 316 connects.
During the posture adjustment that second adjusts component 32, the second power mechanism 325 drives 324 rotary motion of the second screw rod,
Second nut 323 drives the second sliding block 321 to move along the second guide rail 322 under the action of the second screw rod 324.
Referring to Fig. 6, third adjusts component 33 can include: third sliding block 331 is connected to the second peace of the second adjusting component 32
Fill seat 326；Third guide rail 332, transversely X extends and is slidably connected to third sliding block 331；Third nut 333, is connected to third
Sliding block 331；Third screw rod 334 is threadedly connected to third nut 333；Third power mechanism 335 is connected to third screw rod 334；
And third mounting base 336, installation third guide rail 332, third screw rod 334 and third power mechanism 335.Wherein, third is sliding
Block 331 is quantitatively the second mounting bases 326 multiple, that the multiple third sliding block 331 directly can adjust component 32 with second
Connection can also adjust component 32 by being set to the third platform (not shown) and second of the multiple 331 top of third sliding block
The second mounting base 326 connection.
Referring to Fig.1, guidance set 4 is located at flexible 2 top of positioning posture adjustment component and for installing flexible positioning posture adjustment component
2.Guidance set 4 can include: mounting rail 41；And sliding seat 42, can opposite rail 41 slided, and flexible positioning posture adjustment group
The driving mechanism 22 of part 2 is fixedly installed on sliding seat 42.Wherein, it before target workpiece B and the assembly of benchmark workpiece, can first pass through
Flexibility positioning posture adjustment component 2 is moved in the space to be assembled with benchmark workpiece by guidance set 4.Specifically, sliding seat 42 can
It is two, correspondingly, the driving mechanism 32 of flexibility positioning posture adjustment component 3 can be divided into two groups.
Then illustrate the attitude-adjusting method of the Coupled Rigid-flexible posture adjusting system according to the application second aspect.
Referring to Fig. 7, according to the attitude-adjusting method of the Coupled Rigid-flexible posture adjusting system of the application hard and soft coupling as described in first aspect
Posture adjusting system is closed to realize.
The whole gravity of conformal tooling 1 and target workpiece B is G, the flexible cable 21 of flexibility positioning posture adjustment component (3) and drive
Motivation structure 22 is quantitatively n, and rigid numerical control positioning posture adjusting device 3 is quantitatively m, the motor 222 of each driving mechanism 22
Attitude-adjusting method with position control mode and force control mode, and the Coupled Rigid-flexible posture adjusting system of the application includes step S1-
S8。
S1, in assembly space, fixed setting benchmark workpiece arranges laser tracker and assembles conformal tooling 1, target work
Part B and flexible positioning posture adjustment component 2.
S2 obtains conformal tooling 1 and the current spatial pose of target workpiece B by laser tracker, and then calculates guarantor
Relative pose relationship between shape tooling 1 and benchmark workpiece.
The motor 222 of each driving mechanism 22 of flexible positioning posture adjustment component 2 is arranged to position control mode, motor by S3
222, which control flexible cable 21 by reel 223, first pulley mechanism 224, second pulley mechanism 225, carries out stretching motion, with thick
Adjust the pose of conformal tooling 1 and target workpiece B, wherein conformal tooling 1 and target workpiece B is thick through flexibility positioning posture adjustment component 2
State after tune is denoted as original state.
S4 records the drawing of flexible cable 21 that the force snesors 226 of all driving mechanisms 22 is measured in the initial state
Power { fi}={ f1,f2,f3…fn(i=1,2,3 ... n), then total resultant force F=f of the more flexible cables 211+f2+f3+…+
fn, and have:
Fx=0
Fy=0
Fz=F=G
Wherein, Fx、Fy、FzTotal resultant force F of the respectively described more flexible cables 21 is in lateral X, longitudinal direction Y, up and down direction Z
On component.At this point, due to not enabled rigidity numerical control positioning posture adjusting device 3, the whole gravity G of conformal tooling 1 and target workpiece B
Only born by flexibility positioning posture adjustment component 2.
S5, mobile described at least three rigid numerical control positioning posture adjusting devices 3, and by each rigid numerical control positioning posture adjusting device 3
It is connected with the corresponding connector 12 of conformal tooling 1.
The motor 222 of each driving mechanism 22 of flexible positioning posture adjustment component 2 is arranged to force control mode, and passed through by S6
Flexibility positioning posture adjustment component 2 adjusts flexible cable 21 to the pulling force of conformal tooling 1 and target workpiece B, so that described at least three
Rigid numerical control positioning posture adjusting device 3 supports conformal tooling 1 and target workpiece B, at this point, flexible positioning posture adjustment component 2 and rigidity
Numerical control positioning posture adjusting device 3 bears conformal tooling 1 and the whole gravity G of target workpiece B, and the more flexible cables 21 together
Pulling force be { fi'={ f1′,f2′,f3′…fn' (i=1,2,3 ... n), at least three rigid numerical control positioning posture adjusting devices
3 support force is { Nj}={ N1,N2,N3…Nm(j=1,2,3 ... m), then total resultant force F'=of the more flexible cables 21
f1′+f2′+f3′+…+fn', total support force N=N of at least three rigid numerical control positioning posture adjusting devices 31+N2+N3+…+Nm,
And have:
F'=α F < G
Fx'=0
Fy'=0
Fz'=F'=α G
N=G-Fz'=(1- α) G
Wherein, α is gravity compensation coefficient and 0 < α < 1.
S7, by the described at least three mobile conformal toolings 1 of rigid numerical control positioning posture adjusting device 3 and target workpiece B, until
It is flexible by target workpiece B accurate adjustment to assembly pose, and during described at least three rigid 3 accurate adjustments of numerical control positioning posture adjusting device
Positioning posture adjustment component 2 keeps total resultant force F' of the more flexible cables 21 constant, i.e. F'=α F < G.
S8, at least three rigid numerical control positioning posture adjusting devices 3 by target workpiece B accurate adjustment to after assembling pose, it is described
Total resultant force of more flexible cables 21 is 0, first releases the force control mode of the motor 222 of flexible positioning posture adjustment component 2 at this time, then
Release the connection between the more flexible cables 21, at least three rigid numerical control positioning posture adjusting devices 3 and conformal tooling 1
And the connection between conformal tooling 1 and target workpiece B, posture adjustment pairing are completed.
In the attitude-adjusting method of the Coupled Rigid-flexible posture adjusting system of the application, flexibility positioning posture adjustment component 2 can not only opened
Conformal tooling 1 and target workpiece B just position with before rigid numerical control positioning posture adjusting device 3, additionally it is possible to enable rigidity
The pulling force of flexible cable 21 is adjusted after numerical control positioning posture adjusting device 3, it is conformal to be born together with rigid numerical control positioning posture adjusting device 3
The whole gravity G of tooling 1 and target workpiece B, thus reduces conformal tooling 1 and target workpiece B generates in assembling process
Deformation, improves assembling quality.
Claims (10)
1. a kind of Coupled Rigid-flexible posture adjusting system, described rigid for target workpiece (B) to be assemblied in benchmark workpiece in assembly space
Soft coupling posture adjusting system includes:
Conformal tooling (1), comprising: bracket (11), (Z) has the upper side and lower side along the vertical direction, and bracket (11) is connected to mesh
It marks workpiece (B)；At least three connectors (12), each connector (12) are fixedly installed on bracket (11) on the downside of bracket (11)
Marginal portion；And multiple suspender members (13), each suspender member (13) are fixedly arranged at the upper side in bracket (11), simultaneously bracket (11)
Positioned at least three connector (12) week inwardly, and conformal tooling (1) and the whole center of gravity of target workpiece (B) are located at
The multiple suspender member (13) week is inwardly；
Flexibility positioning posture adjustment component (2), including more flexible cables (21) and multiple driving mechanisms (22), each flexible cable (21)
First end be connected to a corresponding driving mechanism (22), second end is connected to the corresponding suspender member (13) of conformal tooling (1)；
At least three rigid numerical control positioning posture adjusting devices (3), are located at below conformal tooling (1) and target workpiece (B), each rigidity
Numerical control positioning posture adjusting device (3) is connected to the corresponding connector (12) of conformal tooling (1)；And
Laser tracker, for measuring conformal tooling (1) and benchmark workpiece in the pose in assembly space.
2. Coupled Rigid-flexible posture adjusting system according to claim 1, which is characterized in that
Each driving mechanism (22) includes: pedestal (221)；Motor (222) is fixedly installed on pedestal (221)；Reel (223), connection
It is rotated in motor (222), and under the action of motor (222)；First pulley mechanism (224), is fixedly installed on base
Seat (221)；Second pulley mechanism (225) is fixedly installed on pedestal (221) and is spaced setting with first pulley mechanism (224)；Power
Sensor (226), one end is connected to pedestal (221), the other end is connected to first pulley mechanism (224)；And controller, communication
It is connected to force snesor (226) and motor (222)；
The first end of flexible cable (21) is connected to the reel (223) of driving mechanism (22), and second end sequentially passes through first pulley
Mechanism (224) and second pulley mechanism (225), to be connected to the suspender member (13) of conformal tooling (1).
3. Coupled Rigid-flexible posture adjusting system according to claim 1, which is characterized in that suspender member (13) is quantitatively four
A, four suspender members (13) are in distributed rectangular, and flexibility positions the flexible cable (21) of posture adjustment component (2), driving mechanism
(22) quantitatively consistent with suspender member (13).
4. Coupled Rigid-flexible posture adjusting system according to claim 1, which is characterized in that connector (12) is quantitatively four
A, four connectors (12) are in distributed rectangular, and rigid numerical control positioning posture adjusting device (3) and connector (12) are quantitatively
Unanimously.
5. Coupled Rigid-flexible posture adjusting system according to claim 1, which is characterized in that each rigidity numerical control positioning posture adjusting device
(3) include: the first adjusting component (31), the position of conformal tooling (1) and target workpiece (B) is adjusted on (Z) in above-below direction
Appearance；Second adjusts component (32), for adjusting the pose of conformal tooling (1) and target workpiece (B) on longitudinal direction (Y)；Third tune
It saves component (33), for adjusting the pose of conformal tooling (1) and target workpiece (B) on transverse direction (X)；And matching piece (34),
The first adjusting component (31) is connected to merging with the corresponding connector (12) of conformal tooling (1).
6. Coupled Rigid-flexible posture adjusting system according to claim 5, which is characterized in that the first adjusting component (31) includes: to stretch
Contracting bar (311), (Z) extends and is connected to matching piece (34) along the vertical direction；First nut (312), is connected to telescopic rod
(311)；First screw rod (313) is threadedly connected to the first nut (312)；Belt wheel mechanism (314), is connected to the first screw rod
(313)；First power mechanism (315) is connected to belt wheel mechanism (314)；And first mounting base (316), telescopic rod is installed
(311), the first screw rod (313), belt wheel mechanism (314) and the first power mechanism (315).
7. Coupled Rigid-flexible posture adjusting system according to claim 5, which is characterized in that second to adjust component (32) include: the
Two sliding blocks (321) are connected to the first adjusting component (31)；Second guide rail (322), (Y) extends and is slidably connected to the along longitudinal direction
Two sliding blocks (321)；Second nut (323) is connected to the second sliding block (321)；Second screw rod (324), is threadedly connected to the second spiral shell
Female (323)；Second power mechanism (325) is connected to the second screw rod (324)；And second mounting base (326), installation second are led
Rail (322), the second screw rod (324) and the second power mechanism (325).
8. Coupled Rigid-flexible posture adjusting system according to claim 5, which is characterized in that it includes: that third, which adjusts component (33),
Three sliding blocks (331) are connected to the second adjusting component (32)；Third guide rail (332), transversely (X) extends and is slidably connected to the
Three sliding blocks (331)；Third nut (333) is connected to third sliding block (331)；Third screw rod (334), is threadedly connected to third spiral shell
Female (333)；Third power mechanism (335) is connected to third screw rod (334)；And third mounting base (336), installation third are led
Rail (332), third screw rod (334) and third power mechanism (335).
9. Coupled Rigid-flexible posture adjusting system according to claim 1, which is characterized in that Coupled Rigid-flexible posture adjusting system further includes leading
To component (4), and guidance set (4) includes: mounting rail (41)；And sliding seat (42), can opposite rail (41) slided,
And the driving mechanism (22) of flexible positioning posture adjustment component (2) is fixedly installed on sliding seat (42).
10. a kind of attitude-adjusting method of Coupled Rigid-flexible posture adjusting system, by Coupled Rigid-flexible posture adjusting system as stated in claim 2 Lai real
Existing, the whole gravity of conformal tooling (1) and target workpiece (B) are G, and flexible cable (21) and driving mechanism (22) are quantitatively equal
For n, rigid numerical control positioning posture adjusting device (3) is quantitatively m, and the motor (222) of each driving mechanism (22) has position control
Mode and force control mode, the attitude-adjusting method of the Coupled Rigid-flexible posture adjusting system comprising steps of
S1, in assembly space, fixed setting benchmark workpiece arranges laser tracker and assembles conformal tooling (1), target workpiece
(B) and flexibility positions posture adjustment component (2)；
S2 is obtained conformal tooling (1) and the current spatial pose of benchmark workpiece respectively by laser tracker, thereby determines that guarantor
Relative position between shape tooling (1) and benchmark workpiece；
The motor (222) of each driving mechanism (22) of flexible positioning posture adjustment component (2) is arranged to position control mode, electricity by S3
Machine (222) is carried out by reel (223), first pulley mechanism (224), second pulley mechanism (225) control flexible cable (21)
Stretching motion, with the pose of the conformal tooling of coarse adjustment (1) and target workpiece (B), wherein conformal tooling (1) and target workpiece (B) warp
State after flexibility positioning posture adjustment component (2) coarse adjustment is denoted as original state；
S4 records flexible cable (21) that the force snesors (226) of all driving mechanisms (22) is measured in the initial state
Pulling force { fi}={ f1,f2,f3…fn(i=1,2,3 ... n), then total resultant force F=f of the more flexible cables (21)1+f2+f3
+…+fn, and have:
Fx=0
Fy=0
Fz=F=G
Wherein, Fx、Fy、FzTotal resultant force F of the respectively described more flexible cables (21) is in transverse direction (X), longitudinal (Y), up and down direction
(Z) component on；
S5, mobile described at least three rigid numerical control positioning posture adjusting devices (3), and will each rigidity numerical control positioning posture adjusting device
(3) it is connected with the corresponding connector (12) of conformal tooling (1)；
The motor (222) of each driving mechanism (22) of flexible positioning posture adjustment component (2) is arranged to force control mode, and led to by S6
Flexible positioning posture adjustment component (2) adjustment flexible cable (21) is crossed to the pulling force of conformal tooling (1) and target workpiece (B), so that institute
It states at least three rigid numerical control positioning posture adjusting devices (3) and supports conformal tooling (1) and target workpiece (B), described at this time more
The pulling force of flexible cable (21) is { fi'={ f1′,f2′,f3′…fn' (i=1,2,3 ... n), at least three rigid numerical controls
The support force for positioning posture adjusting device (3) is { Nj}={ N1,N2,N3…Nm(j=1,2,3 ... m), then the more flexible cables
(21) total resultant force F'=f1′+f2′+f3′+…+fn', total supports of at least three rigid numerical control positioning posture adjusting devices (3)
Power N=N1+N2+N3+…+Nm, and have:
F'=α F < G
Fx'=0
Fy'=0
Fz'=F'=α G
N=G-Fz'=(1- α) G
Wherein, α is gravity compensation coefficient and 0 < α < 1；
S7, by the mobile conformal tooling (1) of at least three rigidity numerical control positioning posture adjusting devices (3) and target workpiece (B), directly
Extremely by target workpiece (B) accurate adjustment to assembly pose, and in described at least three rigid numerical control positioning posture adjusting device (3) accurate adjustment phases
Between, flexibility positioning posture adjustment component (2) keeps total resultant force F' of the more flexible cables (21) constant, i.e. F'=α F < G；
S8, at least three rigid numerical control positioning posture adjusting devices (3) by target workpiece (B) accurate adjustment to after assembling pose, it is described
Total resultant force of more flexible cables (21) is 0, first releases the power control of the motor (222) of flexible positioning posture adjustment component (2) at this time
Mode, then release the more flexible cables (21), at least three rigid numerical control positioning posture adjusting devices (3) and conformal tooling
(1) connection between connection and conformal tooling (1) and target workpiece (B) between, posture adjustment pairing are completed.
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