CN111551142A - Positioning method of three-coordinate position-following serial positioner - Google Patents
Positioning method of three-coordinate position-following serial positioner Download PDFInfo
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Abstract
The invention discloses a positioning method of a three-coordinate position-associated serial locator, which comprises the steps of firstly establishing a reference coordinate system CCS for positioningCoordinate systemThen, the three-coordinate position-following serial locator is moved to the workpiece, and then an OCS (coordinate System) of the three-coordinate position-following serial locator is establishedCoordinate systemThen calibrating CCSCoordinate systemRelative to OCSCoordinate systemIs in a conversion relation of TCCS→OCSThen, the positioning point P' of the workpiece relative to the CCS is measuredCoordinate systemAnd then the positioning point P' of the workpiece is relative to the CCSCoordinate systemIs converted into a coordinate value relative to the OCSCoordinate systemFinally, three coordinate modules of the three-coordinate position-following serial locator are moved to enable the locating point P to move to the OCSCoordinate systemAnd the position of the coordinate value is used for positioning the workpiece by the three-coordinate position-following serial positioner.
Description
Technical Field
The application relates to a positioning method in aircraft manufacturing, in particular to a positioning method of a three-coordinate position-following serial positioner.
Background
In the aircraft industry, a large number of three-coordinate locators used are three-coordinate orthogonal series locators, i.e., X, Y, Z where the three coordinate modules are all orthogonal in pairs. Because the coordinate system and the reference coordinate system of the three-coordinate orthogonal serial locator are both Cartesian rectangular coordinate systems, the conversion of the two coordinate systems is orthogonal conversion, and the length invariance exists before and after the conversion, the locating method is simple.
However, the requirement on the manufacturing accuracy of the three-coordinate orthogonal serial positioner is high, and the three-coordinate orthogonal serial positioner not only needs professional technicians, but also needs measuring tools and instruments with high accuracy, such as a laser interferometer, a micrometer, a marble ruler, an invar ruler and the like, so that the manufacturing period is long and the manufacturing cost is high. Meanwhile, absolute orthogonal series connection of three coordinates cannot be achieved, so that certain errors are introduced when the Cartesian rectangular coordinate system is used for directly representing the three-coordinate orthogonal series connection positioner, and theoretical errors exist when the three-coordinate orthogonal series connection positioner is positioned.
Disclosure of Invention
The invention provides a positioning method of a three-coordinate random serial locator, aiming at eliminating theoretical errors of the three-coordinate orthogonal serial locator, shortening the manufacturing period, reducing the manufacturing cost and improving the positioning precision.
A positioning method of a three-coordinate position-following serial positioner comprises the three-coordinate position-following serial positioner, wherein the positioner is formed by sequentially connecting a base, a three-coordinate motion mechanism and a tail end positioner in series, the three-coordinate motion mechanism is formed by connecting a first coordinate module, a second coordinate module and a third coordinate module in series in position, the tail end positioner comprises a positioning point P, the first coordinate module, the second coordinate module and the third coordinate module can be connected in series in position without orthogonal series connection, and the series connection sequence of the first coordinate module, the second coordinate module and the third coordinate module can be combined at will. The base is positioned at the initial end of the three-coordinate motion module and plays a role of a static platform, and the tail end positioner is positioned at the tail end of the three-coordinate motion module and plays a role of a starting platform. The location point P is a fixed point relative to the end locator. The positioning method of the three-coordinate position-following serial positioner comprises the following steps:
(1) establishing a reference coordinate system CCS for positioningCoordinate systemReference coordinate system CCSCoordinate systemIs fixed and invariant with respect to the working scenario.
(2) And moving the three-coordinate position-following serial locator to the workpiece to enable the locating point P' of the workpiece to be located in the locating envelope space of the locating point P in the three-coordinate position-following serial locator, and fixing the three-coordinate position-following serial locator.
(3) Establishing following oblique angle coordinate system OC of three-coordinate following serial locatorSCoordinate systemThe method comprises the following steps:
(3-1) returning the three-coordinate movement mechanism to zero, and taking the positioning point P of the tail end positioner as an OCSCoordinate systemThe origin of (a);
(3-2) the OCS is taken as the moving direction of the first coordinate moduleCoordinate systemThe direction of the X coordinate of (2) takes the moving direction of the second coordinate module as an OCSCoordinate systemThe direction of the Y coordinate of (2) takes the moving direction of the third coordinate module as the OCSCoordinate systemThe Z coordinate direction of (1), X → Y → Z, is required to satisfy the right hand rule.
(4) Calibrating a reference coordinate system CCSCoordinate systemPosition-following oblique angle coordinate system OCS relative to three-coordinate position-following serial locatorCoordinate systemIs in a conversion relation of TCCS→OCSThe method comprises the following steps:
(4-1) moving three coordinate modules of the three-coordinate position-following serial locator to enable the locating point P to be located at four positions which are not coplanar and are respectively recorded as: p1、P2、P3、P4。
(4-2) measurement of P1、P2、P3、P4With respect to CCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-3) measurement of P1、P2、P3、P4Relative to OCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-4) calibrating position-following oblique angle coordinate system OCSCoordinate systemRelative to a reference coordinate system CCSCoordinate systemIs in a conversion relation of TCCS→OCS：
(5) Measured out ofThe setpoint P' of the workpiece relative to the reference coordinate system CCSCoordinate systemIs recorded as homogeneous coordinate form:
(6) positioning point P' of workpiece relative to reference coordinate system CCSCoordinate systemThe coordinate value of the OCS is converted into a position-following oblique angle coordinate system OCS relative to the three-coordinate position-following serial locatorCoordinate systemIs recorded as homogeneous coordinate form:
(7) moving three coordinate modules of the three-coordinate position-following serial locator to move the locating point P to the OCSCoordinate systemIs as follows
And (5) positioning the workpiece by the three-coordinate position-following serial positioner at the coordinate value position.
Compared with the prior art, the invention has the following advantages and benefits:
(1) the manufacturing cycle of the locator is short, and because the three-coordinate can be connected in series at any position, a professional skill is not needed, a large amount of adjusting and installing time is saved, and the manufacturing efficiency of the three-coordinate locator is improved.
(2) The locator has low manufacturing cost, and because the three coordinates can be connected in series at any position, the locator does not need to be accurately adjusted and installed, a special instrument is not needed, a special manufacturing environment is not needed, and a large amount of manufacturing cost is saved.
(3) The locator has high positioning precision, and compared with the movement guide line which is similar to the locator by adopting a Cartesian rectangular coordinate system, the locator directly adopts the movement guide line which is connected in series along with the position in the locator as a coordinate axis, thereby eliminating the theoretical error of positioning.
(4) The locator has wide application range, and the three-coordinate random serial locator has short period, low cost and high precision, so that the locator can be widely popularized and applied and has good economical efficiency.
The present application is described in further detail below with reference to the accompanying drawings of embodiments:
drawings
FIG. 1 is a schematic diagram of a three-coordinate in-place serial locator in a random state
FIG. 2 is a schematic diagram of a three-coordinate in-line positioner in a return-to-zero state
FIG. 3 is a schematic diagram of a three-coordinate in-line positioner in a positioning state
The numbering in the figures illustrates: 1 three-coordinate motion mechanism, 2 bases, 3 first coordinate modules, 4 second coordinate modules, 5 third coordinate modules, 6 first coordinate guide rails, 7 second coordinate guide rails, 8 third coordinate guide rails, 9 tail end positioners, 10 workpieces, 11 process joints, 12 positioning envelope wires and 13 positioning envelope space
Detailed Description
Referring to fig. 1, 2 and 3, the three-coordinate position-following serial locator is formed by sequentially connecting a base 2, a three-coordinate movement mechanism 1 and a tail end locator 9 in series, wherein the three-coordinate movement mechanism 1 is formed by connecting a first coordinate module 3, a second coordinate module 4 and a third coordinate module 5 in series in a position-following manner, and the tail end locator 9 comprises a locating point P. The positioning object of the three-coordinate position-following serial positioner is a workpiece 10, the workpiece 10 comprises a process joint 11, and the process joint 11 comprises a positioning point P'. The positioning point P of the three-coordinate location-dependent serial positioner and the positioning point P ' of the process joint 11 are in a matching connection relationship, when the positioning point P is a ball socket, the positioning point P ' is a ball head, and when the positioning point P is a conical socket, the positioning point P ' is a conical head, and the like, and the matching tolerance of H8/f7 is generally adopted.
Referring to fig. 1, 2 and 3, the first coordinate module 3, the second coordinate module 4 and the third coordinate module 5 of the three-coordinate position-following serial locator can be connected in series in any position without orthogonal series connection, so that the three-coordinate position-following serial locator is extremely simple to manufacture and install. The series connection sequence among the three coordinate modules can be combined at will, and six combinations of 'one, two and three', 'one, three and one', 'three, two and one', and 'three and two' are all applicable (note that 'one, two and three' indicates that the bottom layer of the three-coordinate random series locator is the first coordinate module 3, the middle layer is the second coordinate module 4, and the upper layer is the third coordinate module 5).
Referring to fig. 1, 2 and 3, a base 2 of the three-coordinate position-dependent serial locator is positioned at the beginning of the three-coordinate motion module to play a role of a static platform, and a tail end locator 9 is positioned at the tail end of the three-coordinate motion module to start the platform. Where the positioning point P is a fixed point relative to the end positioner 9.
Referring to fig. 2 and 3, the method for positioning the positioning point P' of the workpiece 10 based on the three-coordinate in-line positioner includes the following steps:
(1) establishing a reference coordinate system CCS for positioningCoordinate systemReference coordinate system CCSCoordinate systemIs fixed and invariant with respect to the working scenario.
(2) And moving the three-coordinate position-following serial locator to the workpiece to enable the locating point P' of the workpiece to be located in the locating envelope space of the locating point P in the three-coordinate position-following serial locator, and fixing the three-coordinate position-following serial locator.
(3) OCS (oriented diagonal coordinate System) for establishing three-coordinate oriented serial locatorCoordinate systemThe method comprises the following steps:
(3-1) returning the three-coordinate movement mechanism to zero, and taking the positioning point P of the tail end positioner as an OCSCoordinate systemThe origin of (a);
(3-2) the OCS is set as the moving direction of the first coordinate module 3 along the first coordinate guide 6Coordinate systemThe direction of the X coordinate of (1) is the direction of the movement of the second coordinate module 4 along the first coordinate guide 7 as the OCSCoordinate systemThe direction of the Y coordinate of (1) is OCS (online charging system) with the moving direction of the third coordinate module 5 along the third coordinate guide rail 8Coordinate systemThe Z coordinate direction of (1), X → Y → Z, is required to satisfy the right hand rule.
(4) Calibrating a reference coordinate system CCSCoordinate systemPosition-following oblique angle coordinate system OCS relative to three-coordinate position-following serial locatorCoordinate systemIs in a conversion relation of TCCS→OCSThe method comprises the following steps:
(4-1) moving three coordinate modules of the three-coordinate position-following serial locator to enable the locating point P to be located at four positions which are not coplanar and are respectively recorded as: p1、P2、P3、P4。
(4-2) measurement of P1、P2、P3、P4With respect to CCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-3) measurement of P1、P2、P3、P4Relative to OCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-4) calibrating position-following oblique angle coordinate system OCSCoordinate systemRelative to a reference coordinate system CCSCoordinate systemIs in a conversion relation of TCCS→OCS：
(5) Measuring the positioning point P' of the workpiece relative to the reference coordinate system CCSCoordinate systemIs recorded as homogeneous coordinate form:
(6) positioning point P' of workpiece relative to reference coordinate system CCSCoordinate systemThe coordinate value of the OCS is converted into a position-following oblique angle coordinate system OCS relative to the three-coordinate position-following serial locatorCoordinate systemIs recorded as homogeneous coordinate form:
(7) moving three coordinate modules of the three-coordinate position-following serial locator to move the locating point P to the OCSCoordinate systemIs as follows
And (5) positioning the workpiece by the three-coordinate position-following serial positioner at the coordinate value position.
The first coordinate module 3, the second coordinate module 4 and the third coordinate module 5 can be connected in series along with the position without orthogonal series connection.
The first coordinate module 3, the second coordinate module 4 and the third coordinate module 5 can be combined in any series order.
The base 2 is positioned at the initial end of the three-coordinate motion module and plays a role of a static platform, and the tail end positioner is positioned at the tail end of the three-coordinate motion module and plays a role of a starting platform.
The location point P is a fixed point relative to the end locator.
Compared with the prior art, the invention has at least the following advantages and benefits:
(1) the manufacturing cycle of the locator is short, and because the three-coordinate can be connected in series at any position, a professional skill is not needed, a large amount of adjusting and installing time is saved, and the manufacturing efficiency of the three-coordinate locator is improved.
(2) The locator has low manufacturing cost, and because the three coordinates can be connected in series at any position, the locator does not need to be accurately adjusted and installed, a special instrument is not needed, a special manufacturing environment is not needed, and a large amount of manufacturing cost is saved.
(3) The locator has high positioning precision, and compared with the movement guide line which is similar to the locator by adopting a Cartesian rectangular coordinate system, the locator directly adopts the movement guide line which is connected in series along with the position in the locator as a coordinate axis, thereby eliminating the theoretical error of positioning.
(4) The locator has wide application range, and the three-coordinate random serial locator has short period, low cost and high precision, so that the locator can be widely popularized and applied and has good economical efficiency.
Claims (5)
1. A positioning method of a three-coordinate position-following serial positioner is characterized in that the three-coordinate position-following serial positioner is formed by sequentially connecting a base, a three-coordinate motion mechanism and a tail end positioner in series, the three-coordinate motion mechanism is formed by connecting a first coordinate module, a second coordinate module and a third coordinate module in series in a position-following manner, the tail end positioner contains a positioning point P, and the positioning method of the three-coordinate position-following serial positioner comprises the following steps:
step 1 establishing a reference coordinate system CCS for positioningCoordinate systemReference coordinate system CCSCoordinate systemIs fixed and invariant relative to the working scene;
step 2, moving the three-coordinate position-following serial locator to a workpiece, enabling a locating point P' on the workpiece to be located in a locating envelope space of the locating point P in the three-coordinate position-following serial locator, and fixing the three-coordinate position-following serial locator;
step 3, establishing an OCS (coordinate System) of a three-coordinate position-following serial locatorCoordinate systemThe method comprises the following steps:
(3-1) returning the three-coordinate movement mechanism to zero, and taking the positioning point P of the tail end positioner as an OCSCoordinate systemThe origin of (a);
(3-2) the OCS is taken as the moving direction of the first coordinate moduleCoordinate systemThe direction of the X coordinate of (2) takes the moving direction of the second coordinate module as an OCSCoordinate systemThe direction of the Y coordinate of (2) takes the moving direction of the third coordinate module as the OCSCoordinate systemThe Z coordinate direction of (1), X → Y → Z is required to satisfy the right-hand rule;
step 4, calibrating a reference coordinate system CCSCoordinate systemPosition-following oblique angle coordinate system OCS relative to three-coordinate position-following serial locatorCoordinate systemIs in a conversion relation of TCCS→OCSThe method comprises the following steps:
(4-1) moving three coordinate modules of the three-coordinate position-following serial locator to enable the locating point P to be located at four positions which are not coplanar and are respectively recorded as: p1、P2、P3、P4；
(4-2) measurement of P1、P2、P3、P4With respect to CCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-3) measurement of P1、P2、P3、P4Relative to OCSCoordinate systemIs recorded as homogeneous coordinate form:
(4-4) calibrating position-following oblique angle coordinate system OCSCoordinate systemRelative to a reference coordinate system CCSCoordinate systemIs in a conversion relation of TCCS→OCS：
Step 5, measuring the positioning point P' of the workpiece relative to the reference coordinate system CCSCoordinate systemIs recorded as homogeneous coordinate form:
step 6, the positioning point P' of the workpiece is relative to the reference coordinate system CCSCoordinate systemThe coordinate value of the OCS is converted into a position-following oblique angle coordinate system OCS relative to the three-coordinate position-following serial locatorCoordinate systemIs recorded as homogeneous coordinate form:
step 7, moving three coordinate modules of the three-coordinate position-following serial locator to enable the locating point P to move to the OCSCoordinate systemIs as follows
And (5) positioning the workpiece by the three-coordinate position-following serial positioner at the coordinate value position.
2. The method as claimed in claim 1, wherein the first coordinate module, the second coordinate module, and the third coordinate module can be connected in series without orthogonal connection.
3. The method as claimed in claim 1, wherein the first coordinate module, the second coordinate module, and the third coordinate module are connected in any order.
4. The method as claimed in claim 1, wherein the base is located at the beginning of the three-coordinate moving module and acts as a static platform, and the end positioner is located at the end of the three-coordinate moving module and acts as a starting platform.
5. The method of claim 1, wherein the location point P is a fixed point relative to the end locator.
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Cited By (1)
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Application publication date: 20200818 |