CN109884988B - Hole making normal interpolation correction method of five-axis numerical control hole making machine tool - Google Patents
Hole making normal interpolation correction method of five-axis numerical control hole making machine tool Download PDFInfo
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Abstract
The invention discloses a drilling normal interpolation correction method of a five-axis numerical control drilling machine tool, which belongs to the field of automatic drilling in airplane digital assembly. The method of the invention can not only ensure the normal precision of hole making, but also solve the problems that the correction efficiency of the normal direction of a single hole is low and the normal directions of partial hole sites are difficult to correct when the hole sites are distributed densely.
Description
Technical Field
The invention relates to the field of automatic hole making in airplane digital assembly, in particular to a hole making normal interpolation correction method of a five-axis numerical control hole making machine tool.
Background
In the process of aircraft assembly, the connection mode between structural parts mainly adopts mechanical connection, so that the hole making operation is a crucial link in the aircraft assembly. In the traditional aircraft assembly, manual hole making is mainly used, the hole making quality seriously depends on the experience, the technology and the working state of workers, and the hole making quality is difficult to meet the aircraft assembly requirement.
With the development of the automation industry, hole making gradually tends to be automated and digitized. A large amount of relevant researches are carried out on automatic hole making technologies at home and abroad, and companies such as EI, GEMCOR, BROETJE and the like respectively develop respective automatic drilling and riveting machines and automatic hole making equipment and successfully apply the automatic drilling and riveting machines and the automatic hole making equipment to the digital assembly of airplanes such as Boeing, air passengers and the like. In recent years, the domestic automatic hole making technology is also rapidly developed, such as Zhejiang university, Beijing aerospace university, Nanjing aerospace university and the like, and the hole making technology has mature research results, and the developed related technologies are practically applied to companies such as Xifei, Chengfei, Shaanfei and the like.
In the automatic hole making process, the perpendicularity of the hole making axis and the surface of the wall plate has important influence on the hole making processing precision and the connection fatigue strength. Because the aircraft wallboard has manufacturing error and positioning error, the deviation exists between the actual normal direction and the theoretical normal direction of the hole to be processed. It is therefore necessary to correct the normal direction of the current hole site before making the hole. Regarding the normal wallboard correction technology, many scholars have made relevant researches, such as documents "3-PRS based parallel mechanism normal adjustment algorithm in aircraft assembly, zhouhua, zhouyongong, korea-pio, chinese mechanical engineering, 2011, 22(5), 557-.
The method can effectively reduce the normal deviation in hole making, but all the methods are single-hole correction algorithms. By adopting the methods, each hole to be processed on the aircraft wall plate needs to be corrected in real time during hole making, so that the comprehensive hole making efficiency is influenced, and when the hole positions are distributed densely, laser beams can be emitted into the processed holes, so that the problem that the normal measurement is inaccurate and cannot be corrected is caused.
Disclosure of Invention
The invention aims to provide a hole making normal interpolation correction method of a five-axis numerical control hole machine tool, which can ensure the precision of hole making verticality and greatly improve the comprehensive efficiency of hole making.
In order to achieve the above object, the present invention provides a method for correcting hole making normal interpolation of a five-axis numerical control hole machine tool, comprising the steps of:
(1) four reference holes are determined in the hole making area, and the angle error quantity delta A of two rotating shafts of the machine tool at each reference hole is calculatedi、ΔBi(i＝1，2，3，4)；
(2) Calculating angle error quantities delta A and delta B of the two rotating shafts of the machine tool at the position to be processed by utilizing a bilinear interpolation method according to the positions of the four reference holes, the position of the hole to be processed and the angle error quantities of the two rotating shafts of the machine tool at the position to be processed;
(3) and compensating the angle values of the two rotating shafts of the machine tool by using the angle error of the two rotating shafts of the machine tool at the position to be processed, so as to realize the correction of the normal direction of the hole making.
According to the technical scheme, the two rotating shafts of the machine tool respectively refer to an axis A and an axis B, normal information of a hole to be machined in the middle is corrected according to the normal information of four reference holes in a hole machining area, the angle error quantity of the two rotating shafts of the machine tool at the four reference holes is calculated at first, then the angle error quantity of the two rotating shafts of the machine tool at the hole to be machined is calculated by using a bilinear interpolation method, compensation is carried out to realize correction of the normal direction of the hole machining, and the requirement of the plane wall plate on perpendicularity in the hole machining process can be effectively met.
Preferably, in step (1), the method for calculating the angular error amounts of the two rotation axes of the machine tool at the four reference holes includes:
(1-1) recording the angle values A of the two rotating shafts when the machine tool moves to the four reference holes in sequence1、B1，A2、B2，A3、B3，A4、B4；
(1-2) performing normal correction of one hole on the machine tool at four reference holes respectively, and recording angle values A 'of two rotating shafts of the machine tool after normal correction'1、B′1，A′2、B′2，A′3、B′3，A′4、B′4；
(1-3) calculating the angular error Δ A of the two axes of rotation of the machine tool at each reference holei、ΔBi，
ΔAi＝A′i-Ai
ΔBi＝B′i-Bi
Wherein i is 1, 2, 3, 4;
preferably, in the step (2), the step of calculating the angular error of the two rotating axes of the machine tool at the hole to be machined comprises:
(2-1) constructing a quadrangle by using four reference holes, and calculating distances d from the hole to be processed to four sides of the quadrangle1，d2，d3，d4；
(2-2) calculating bilinear interpolation parameters t and s:
(2-3) calculating the angle error quantity delta A and delta B of the two rotating shafts of the machine tool at the hole to be processed:
ΔA＝(1-t)·(1-s)ΔA1+t·(1-s)ΔA2+s·(1-t)ΔA3+t·sΔA4
ΔB＝(1-t)·(1-s)ΔB1+t·(1-s)ΔB2+s·(1-t)ΔB3+t·sΔB4
preferably, in step (3), the method for compensating the angle values of the two rotating axes of the machine tool at the hole to be machined comprises:
A′＝A+ΔA
B′＝B+ΔB
a, B is the angle value of two rotation axes of the machine tool before compensation, which can be obtained by inverse solution calculation of the kinematics of the numerical control machine tool according to the position information of the hole to be processed, and A 'and B' are the angle values of the two rotation axes of the machine tool after compensation.
Preferably, in step (1), the positions of the four reference holes can be obtained from a numerical model of the product to be processed. In the step (2), the position of the hole to be processed can be obtained from a numerical model of the product to be processed.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the hole making normal interpolation correction method of the five-axis numerical control hole machine tool, only single-hole normal correction is needed to be carried out on four reference holes in one hole making area, and normal real-time correction is not needed to be carried out on each hole to be processed, so that the hole making efficiency can be greatly improved;
(2) the hole making normal interpolation correction method of the five-axis numerical control hole machine tool can solve the problem that when holes to be processed are distributed densely, laser beams are projected into the processed holes, so that normal measurement is inaccurate and correction cannot be performed.
Drawings
FIG. 1 is a schematic view of a hole making area of an embodiment of the present invention;
fig. 2 is a flowchart of a drilling normal interpolation correction method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings.
Examples
FIG. 1 is a schematic view of a hole making area of an aircraft panel, wherein P1、P2、P3、P4The reference holes are four, and P is any hole to be machined in the area. Referring to fig. 2, a flow of a method for correcting hole making normal interpolation of a five-axis numerical control hole machine tool according to the present embodiment includes the following steps:
s101, the machine tool moves to P in sequence1、P2、P3、P4The positions of the four reference holes are obtained from a digifax of a product to be processed and respectively record the angle values of two rotating shafts (namely an A shaft and a B shaft, the same below) of the machine tool, namely the A shaft1、B1，A2、B2，A3、B3，A4、B4；
S102, the machine tool is in P1、P2、P3、P4Respectively carrying out normal correction on the four reference holes by using a single hole, and recording angle values A 'of two rotating shafts of the machine tool after normal correction'1、B′1，A′2、B′2，A′3、B′3，A′4、B′4；
S103, respectively calculating P1、P2、P3、P4Angular error amounts of two rotation axes of the machine tool at the four reference holes:
ΔAi＝A′i-Ai
ΔBi＝B′i-Bi
wherein i is 1, 2, 3, 4;
s104, rootAccording to P1、P2、P3、P4The positions of the four reference holes, the position of the hole P to be machined, and the angular error Δ A of the two axes of rotation of the machine tool at the four reference holesi、ΔBi(i ═ 1, 2, 3, 4), calculating angular error quantities Δ a and Δ B of two rotation axes of the machine tool at the hole P to be machined by means of bilinear interpolation;
the position of the hole to be processed is obtained from a digifax of a product to be processed, and the specific calculation steps of the angle error of the two rotating shafts of the machine tool at the position of the hole P to be processed are as follows:
first, according to P1、P2、P3、P4Four reference holes structure quadrangle P1P2P3P4Calculating the distance d from the hole P to be processed to four quadrilateral boundaries1，d2，d3，d4. Wherein d is1Is P to P1P2Distance of d2Is P to P3P4Distance of d3Is P to P1P4Distance of d4Is P to P2P3The distance of (c).
Then, bilinear interpolation parameters t and S are calculated:
and finally, calculating the angle error quantities delta A and delta B of the two rotating shafts of the machine tool at the position of the hole P to be processed:
ΔA＝(1-t)·(1-s)ΔA1+t·(1-s)ΔA2+s·(1-t)ΔA3+t·sΔA4
ΔB＝(1-t)·(1-s)ΔB1+t·(1-s)ΔB2+s·(1-t)ΔB3+t·sΔB4
and S105, compensating the angle values of the two rotating shafts of the machine tool at the position of the hole P to be processed, and realizing the correction of the hole making normal direction.
The specific compensation method comprises the following steps:
A′＝A+ΔA
B′＝B+ΔB
a, B is the angle value of two rotation axes of the machine tool before compensation, which can be obtained by inverse solution calculation of the kinematics of the numerical control machine tool according to the position information of the hole to be processed, and A 'and B' are the angle values of the two rotation axes of the machine tool after compensation.
Claims (5)
1. A drilling normal interpolation correction method of a five-axis numerical control drilling machine tool is characterized by comprising the following steps:
(1) four reference holes are determined in the hole making area, and the angle error quantity delta A of two rotating shafts of the machine tool at each reference hole is calculatedi、ΔBi(i ═ 1, 2, 3, 4); the method for calculating the angular error of the two rotating shafts of the machine tool at the four reference holes comprises the following steps:
(1-1) recording the angle values A of the two rotating shafts when the machine tool moves to the four reference holes in sequence1、B1，A2、B2，A3、B3，A4、B4；
(1-2) performing normal correction of one hole on the machine tool at four reference holes respectively, and recording angle values A 'of two rotating shafts of the machine tool after normal correction'1、B′1，A′2、B′2，A′3、B′3，A′4、B′4；
(1-3) calculating the angular error Δ A of the two axes of rotation of the machine tool at each reference holei、ΔBi，
ΔAi＝A′i-Ai
ΔBi＝B′i-Bi
Wherein i is 1, 2, 3, 4;
(2) calculating angle error quantities delta A and delta B of the two rotating shafts of the machine tool at the position to be processed by utilizing a bilinear interpolation method according to the positions of the four reference holes, the position of the hole to be processed and the angle error quantities of the two rotating shafts of the machine tool at the position to be processed; two rotating shafts of the machine tool respectively refer to an A shaft and a B shaft;
(3) and compensating the angle values of the two rotating shafts of the machine tool by using the angle error of the two rotating shafts of the machine tool at the position to be processed, so as to realize the correction of the normal direction of the hole making.
2. A drilling normal interpolation correction method according to claim 1, wherein in the step (2), the calculation of the angular error of the two rotation axes of the machine tool at the hole to be machined comprises:
(2-1) constructing a quadrangle by using four reference holes, and calculating distances d from the hole to be processed to four sides of the quadrangle1，d2，d3，d4；
(2-2) calculating bilinear interpolation parameters t and s:
(2-3) calculating the angle error quantity delta A and delta B of the two rotating shafts of the machine tool at the hole to be processed:
ΔA＝(1-t)·(1-s)ΔA1+t·(1-s)ΔA2+s·(1-t)ΔA3+t·sΔA4
ΔB＝(1-t)·(1-s)ΔB1+t·(1-s)ΔB2+s·(1-t)ΔB3+t·sΔB4
3. a drilling normal interpolation correction method according to claim 1, wherein in the step (3), the compensation method for the angle values of the two rotation axes of the machine tool at the hole to be machined comprises:
A′＝A+ΔA
B′＝B+ΔB
a, B is the angle value of two rotation axes of the machine tool before compensation, and A 'and B' are the angle values of two rotation axes of the machine tool after compensation.
4. The hole-making normal interpolation correction method according to claim 1, wherein in the step (1), the positions of the four reference holes are obtained from a numerical model of a product to be processed.
5. The hole-making normal interpolation correction method as claimed in claim 1, wherein in the step (2), the position of the hole to be processed is obtained from a numerical model of the product to be processed.
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| CN111026030A (en) * | 2019-12-13 | 2020-04-17 | 西安飞机工业（集团）有限责任公司 | Hole position double correction method for numerical control machine tool |
| CN111469125B (en) * | 2020-04-01 | 2022-10-04 | 江苏集萃精密制造研究院有限公司 | Hole site correction method applied to automatic drilling and riveting of curved surface product |
| CN111889730B (en) * | 2020-06-15 | 2022-07-15 | 成都飞机工业（集团）有限责任公司 | Robot hole-making reference setting method for weak-rigidity airplane component assembly |
| CN112091255B (en) * | 2020-07-21 | 2023-03-28 | 梅标 | Calculation method for distribution interval of hole-making positioning deviation sources and installation parameters of measuring camera |
| CN112108666B (en) * | 2020-09-18 | 2022-08-23 | 中国航发贵州黎阳航空动力有限公司 | Method for improving form and position tolerance of combined drill taper hole |
| CN114589545B (en) * | 2021-12-08 | 2023-04-28 | 北京星航机电装备有限公司 | Complex curved surface deformation online detection and five-axis compensation processing method |
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| CN102581333B (en) * | 2012-03-23 | 2013-09-11 | 浙江大学 | Fine boring device and fine boring method applicable to aircraft landing gear crossing point holes |
| CN103991006B (en) * | 2014-04-01 | 2016-05-11 | 浙江大学 | For scaling method and the device of robot hole platform vision measurement system |
| CN105269406B (en) * | 2014-07-23 | 2018-01-26 | 沈阳机床(集团)设计研究院有限公司上海分公司 | The error compensating method of double turntable five-axis linkage machine tools rotary shafts |
| JP5926358B1 (en) * | 2014-11-28 | 2016-05-25 | ファナック株式会社 | Tool path curving method and curving device for ensuring shape error |
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| CN106843151B (en) * | 2017-02-27 | 2018-12-25 | 浙江大学 | A kind of positive and negative solution method of five-shaft numerical control drilling lathe that feed shaft is swung with AB axis |
| CN106959664B (en) * | 2017-04-24 | 2019-04-09 | 湘潭大学 | Based on the online nonlinear error compensation method of the double turntables of five axis |
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