CN111897287A - Conduit installation error modeling and compensating method based on digital quantity - Google Patents
Conduit installation error modeling and compensating method based on digital quantity Download PDFInfo
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- CN111897287A CN111897287A CN202010553682.4A CN202010553682A CN111897287A CN 111897287 A CN111897287 A CN 111897287A CN 202010553682 A CN202010553682 A CN 202010553682A CN 111897287 A CN111897287 A CN 111897287A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31033—Record on site dimensions of pipe, tube configuration, to install pipe
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/30—Reducing waste in manufacturing processes; Calculations of released waste quantities
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Abstract
The invention discloses a conduit installation error modeling and compensating method based on digital quantity, and belongs to the field of digital assembly. S1, measuring the shape parameters of the catheter and the body structure by using a digital measurement technology, and establishing a digital model between the body structure and the catheter; s2, respectively constructing assembly vector models a of the guide pipe a and the guide pipe b through the point coordinates of the straight line segments on the guide pipe a and the guide pipe bn、bn'; and S3, performing structural error compensation on the guide pipe b according to basic conditions and assembly key features obtained by assembly identification and the assembly vector model of the guide pipe by taking the guide pipe a as a reference, and combining all the straight line segments to form a complete compensation model based on the assembly key features. According to the invention, the installation error model is established for the guide pipe and the machine body structure, and the appearance parameters of the guide pipe are corrected through data measurement and calculation, so that the measurement and assembly precision of the guide pipe can be effectively improved, the manual sampling cost is saved, and the consumption of materials during sampling is reduced.
Description
Technical Field
The invention relates to an error modeling and compensating method, in particular to a conduit installation error modeling and compensating method based on digital quantity.
Background
At present, the guide pipe in the aircraft at home and abroad is used as a main part and is widely applied to key parts from an aircraft engine to a fuselage hydraulic system, an environmental control system, a fuel oil system and the like, and the installation quality of the guide pipe seriously influences the performance and safety of the aircraft. But at present, the catheters at home and abroad have the condition of leakage in different degrees.
The assembly error of the guide pipe is a key cause for the quality problem of the guide pipe, and the overlarge assembly error can cause the stress concentration of the pipe joint and influence the installation quality and the air-tight effect. Among various conduits of an airplane, flared conduits are most sensitive to assembly errors and have the most serious leakage phenomenon, but are widely applied to various systems of the airplane due to the advantages of good economy, long service life and the like. How to reduce leakage of the flared conduit and improve the installation quality of the flared conduit becomes a key problem concerned by various large aviation enterprises.
In an airplane represented by a three-generation airplane and designed by depending on a two-dimensional drawing, because the two-dimensional drawing cannot completely reflect the trend of a guide pipe, the guide pipe is subjected to physical sampling for the first time, the angle and the trend of the guide pipe are adjusted according to the structural characteristics after the structural assembly is completed to form a sample pipe, then the sample pipe is subjected to reverse modeling, and a numerical control pipe bender is used for producing a product pipe, wherein the production basis is the sample pipe; in the new generation of airplane designed by using digital model, the three-dimensional digital model of the guide pipe can completely reflect the trend of the guide pipe, so that the product pipe is directly manufactured by using the numerical control pipe bender, and the production basis is the three-dimensional digital model of the guide pipe. However, whether manufactured according to a prototype pipe or a digital model, a certain deviation still exists between the product pipe and the manufacturing basis. Meanwhile, certain deviation exists in structural assembly, so that certain errors often exist in the actual assembly of the guide pipe.
At present, the stress analysis and the duct forming technology after the duct installation are researched more at home and abroad. Hydraulic catheters are taken as examples by courage and military dynasty and the like, the leakage and failure reasons of flared catheters are analyzed, and suggestions for optimizing the design state of the catheters are provided, but the suggestions cannot eliminate the adverse effects caused by errors in the assembling stage of the catheters. Zhang Zong Yu et al propose an active compensation method for the welding assembly of the guide pipes based on the digital assembly angle, but the application field is the guide pipe welding forming stage, the established error model needs to be used in a special clamp to unify the coordinate system between the guide pipes, and the uncertainty between the self coordinate system of the guide pipes and the coordinate system of the machine body structure in the assembly stage can not be eliminated.
In the aspect of pipe assembly error compensation, the traditional method is to perform shape correction sampling on a pipe on site, after the pipe meets the assembly requirement visually, the pipe subjected to shape correction is used as a sample pipe, and the parameters of the pipe are input into an automatic pipe bender for pipe production through shape measurement.
Disclosure of Invention
The invention aims to solve the problems of large material sampling loss, long time consumption for shape correction, low sample tube precision and the like in conduit assembly error compensation in the prior art, and provides a conduit installation error modeling and compensating method based on digital quantity.
The purpose of the invention is realized by the following technical scheme:
a method for modeling and compensating for a numerical-quantity-based pipe installation error is characterized by comprising the following steps:
s1, measuring the shape parameters of the catheter and the body structure by using a digital measurement technology, and establishing a digital model between the body structure and the catheter;
s2, dividing the guide pipe into separate straight line segments, and respectively constructing the guide pipe a and the guide pipe b through each point position by using the endpoint coordinates of each straight line segment on the guide pipe a and the guide pipe bAssembly vector model a of catheter bn、bn' (n represents the straight line segment number of the catheter);
and S3, performing structural error compensation on the guide pipe b according to basic conditions and assembly key features obtained by assembly identification and the assembly vector model of the guide pipe by taking the guide pipe a as a reference, and combining all the straight line segments to form a complete compensation model based on the assembly key features.
Further, the method further includes step S4: calculating the minimum distance value d between the compensated catheter b and the peripheral structure3And is combined with the theoretical allowable value [ d ]3]Comparing, when d is satisfied3≥[d3]The catheter compensation is satisfied.
Further, the assembly key feature compensation specifically includes:
s300, eliminating errors of the connecting ends of the conduit a and the conduit b; the key features of the assembly involved in this step include the angular constraint θ1And distance constraint d1；
S301, eliminating errors between a fixed clamp on the catheter b and the catheter b; the key features of the assembly involved in this step include the angular constraint θ2And distance constraint d2；
S302, combining after compensation; after the compensation is performed through the steps S300 and S301, the vector of each straight line section of the guide pipe b meets the requirement of the key feature of assembly, the integrity of the guide pipe is compensated by intersecting each straight line section of the guide pipe b in a mode of ensuring that the direction of the vector is unchanged and adjusting the size of the vector, and finally the guide pipe b becomes the complete guide pipe.
Further, step S300 specifically includes:
adjusting the end vector b of the catheter b in a translation and rotation mannern', such that it is aligned with the end vector a of the catheter anCoaxial, and end-to-end, satisfy promptly:
in the formula (1) Bn"denotes the compensated end point coordinates of catheter b, AnShowing the end of a catheterCoordinates of the end points, k being a constant, represent the vector bnAnd vector anParallel.
Further, step S301 specifically includes:
by adjusting a straight line section vector b matched with the clamp by the guide pipe bi', making it vector with the axis of the band
Coaxial and passing through the center point G of the clamp, and the distance between the vector end point and the point G is kept constant. Namely:
b in the formula (2)i' and bi"denotes the ith root vector of catheter B before and after compensation, Bi"and Bi"respectively represents the coordinates of the tip end points before and after the ith root vector compensation of the catheter b, wherein l is a constant and represents the vector biAnd vector
Parallel.
Further, the specific operation flow of step S302 is:
in the formula (3), k1、k2Representing a vector b of the catheter biAnd the compensated vector biThe proportional relationship of the size of the' is a transition parameter.
Further, the distance value d3The calculation method of (2) is as follows:
in the formula (4), k represents that the k-th vector of the catheter exists a peripheral structure, h1、h2Represents two end points of the peripheral structure, l is variable, and l is more than or equal to 0 and less than or equal to 1.
The beneficial effects of this technical scheme are as follows:
1. according to the invention, the installation error model based on the vector method is established for the catheter and the body structure, the appearance parameters of the catheter are corrected through data measurement and calculation, and the catheter is not required to be corrected and sampled on site, so that the manual sampling cost is saved, the labor intensity of workers is reduced, and the material loss during large-area sampling is reduced;
2. the method has the advantages of effectively improving the measurement and assembly precision of the guide pipe and reducing the assembly error through a digital modeling and compensation mode, along with high efficiency, stability, time saving, labor saving, avoidance of risks brought by visual inspection and judgment of the accuracy of the sample pipe and reduction of the manufacturing cost of the guide pipe.
Drawings
The foregoing and following detailed description of the invention will be apparent when read in conjunction with the following drawings, in which:
FIG. 1 is a model of assembly error between a catheter and a body structure;
FIG. 2 is a vector model of catheter assembly;
FIG. 3 illustrates an assembly key feature θ1And d1A compensation schematic diagram;
FIG. 4 illustrates an assembly key feature θ2And d2A compensation schematic diagram;
FIG. 5 is a schematic view of a catheter after integrity compensation;
FIG. 6 shows a judgment feature d3A schematic diagram of eligibility steps;
Detailed Description
The technical solutions for achieving the objects of the present invention are further illustrated by the following specific examples, and it should be noted that the technical solutions claimed in the present invention include, but are not limited to, the following examples.
The embodiment provides a conduit installation error modeling and compensating method based on digital quantity, which comprises the following steps:
firstly, measuring the shape parameters of a catheter and a body structure by using a digital measurement technology, and establishing a digital model between the body structure and the catheter, wherein when a catheter b is assembled with a catheter a, the actual position of the catheter b deviates from the theoretical position as shown in figure 1;
step two, dividing the guide pipe into separate straight line segments, measuring coordinates of end points of each straight line segment on the guide pipe a and the guide pipe b by adopting a guide pipe measuring machine, and respectively constructing an axis vector a through each point positionn、bn' (n represents the straight line segment number of the catheter); adopt laser tracker to measure organism structure top tube joint mounting point O1、O2' the space coordinate of the pipe joint is respectively constructed by each point position to form an axis vector S of the pipe joint1、S2As shown in fig. 2.
And thirdly, performing structural error compensation on the guide pipe b according to basic conditions and assembly key features obtained by assembly identification by taking the guide pipe a as a reference and according to an assembly vector model of the guide pipe, wherein the basic conditions refer to that the joints of the guide pipe a and the guide pipe b and a pipe joint are always vertical to a body structure, and then combining all straight line segments to form a complete compensation model based on the assembly key features.
Wherein the compensation process for assembling the key features is as follows:
(1) eliminating errors at the connection end of conduit a and conduit b
The key features of the assembly involved in this step include the angular constraint θ1And distance constraint d1. FIG. 3 shows the characteristic θ1And d1Schematic error compensation of (1). The compensation process comprises the steps of adjusting the tail end vector b of the catheter b in a translation and rotation moden', such that it is aligned with the end vector a of the catheter anCoaxial, and end-to-end, i.e.:
in the formula (1) Bn"denotes the compensated end point coordinates of catheter b, AnRepresenting the coordinates of the end point of the catheter a, k being a constant, representing the vector bnAnd vector anParallel.
(2) Eliminating errors between a catheter securement clamp and a catheter
The key features of the assembly involved in this step include the angular constraint θ2And distanceConstraint d2. FIG. 4 shows a compensation schematic by adjusting a linear vector b of the conduit b to match the clampi', making it vector with the axis of the band
Coaxial and passing through the center point G of the clamp, and the distance between the vector end point and the point G is kept constant. Namely:
b in the formula (2)i' and bi"denotes the ith root vector of catheter B before and after compensation, Bi"and Bi"respectively represents the coordinates of the tip end points before and after the ith root vector compensation of the catheter b, wherein l is a constant and represents the vector biAnd vector
Parallel.
(3) Compensated assembly
After the compensation is carried out through the steps (1) and (2), each section vector of the guide pipe meets the requirement of key features of assembly, the integrity of the guide pipe is compensated by intersecting each straight line section of the guide pipe b in a mode of ensuring that the direction of the vector is unchanged and adjusting the size of the vector, and finally the guide pipe b becomes a complete guide pipe, a schematic diagram after the compensation is given in figure 5, and the specific operation flow is as follows:
k in formula (3)1、k2Representing a vector b of the catheter biAnd the compensated vector biThe proportional relationship of the size of the' is a transition parameter.
Step four, the invention calculates the minimum distance value between the compensated conduit b and the peripheral structure and the theoretical allowable value [ d ]3]And comparing to judge whether the compensation of the catheter b meets the requirement. The key feature of the assembly involved in this step is the distance constraint d3When d is satisfied3≥[d3]Compensating for fullness of conduitThe requirements are satisfied. FIG. 6 shows an evaluation of the distance d between the catheter b and the surrounding structure3The distance value calculation method is as follows:
in the formula (4), k represents that the k-th vector of the catheter exists a peripheral structure, h1、h2Represents two end points of the peripheral structure, l is variable, and l is more than or equal to 0 and less than or equal to 1.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (7)
1. A method for modeling and compensating for a numerical-quantity-based pipe installation error is characterized by comprising the following steps:
s1, measuring the shape parameters of the catheter and the body structure by using a digital measurement technology, and establishing a digital model between the body structure and the catheter;
s2, dividing the guide pipe into separate straight line segments, and respectively constructing an assembly vector model a of the guide pipe a and an assembly vector model a of the guide pipe b through each point position by using the endpoint coordinates of each straight line segment on the guide pipe a and the guide pipe bn、bn' (n represents the straight line segment number of the catheter);
and S3, performing structural error compensation on the guide pipe b according to basic conditions and assembly key features obtained by assembly identification and the assembly vector model of the guide pipe by taking the guide pipe a as a reference, and combining all the straight line segments to form a complete compensation model based on the assembly key features.
2. The method for modeling and compensating for installation errors of conduit based on digital quantities as set forth in claim 1, wherein said method further comprises the step of S4: calculating the minimum distance value d between the compensated catheter b and the peripheral structure3And is combined with the theoretical allowable value [ d ]3]Comparing, when d is satisfied3≥[d3]The catheter compensation is satisfied.
3. The numerical-quantity-based conduit installation error modeling and compensation method of claim 1, wherein the assembly key feature compensation specifically comprises:
s300, eliminating errors of the connecting ends of the conduit a and the conduit b; the key features of the assembly involved in this step include the angular constraint θ1And distance constraint d1；
S301, eliminating errors between a fixed clamp on the catheter b and the catheter b; the key features of the assembly involved in this step include the angular constraint θ2And distance constraint d2；
S302, combining after compensation; after the compensation is performed through the steps S300 and S301, the vector of each straight line section of the guide pipe b meets the requirement of the key feature of assembly, the integrity of the guide pipe is compensated by intersecting each straight line section of the guide pipe b in a mode of ensuring that the direction of the vector is unchanged and adjusting the size of the vector, and finally the guide pipe b becomes the complete guide pipe.
4. The method for modeling and compensating for installation errors of a conduit based on digital quantities as claimed in claim 3, wherein the step S300 comprises:
adjusting the end vector b of the catheter b in a translation and rotation mannern', such that it is aligned with the end vector a of the catheter anCoaxial, and end-to-end, satisfy promptly:
in the formula Bn"denotes the compensated end point coordinates of catheter b, AnRepresenting the coordinates of the end point of the catheter a, k being a constant, representing the vector bnAnd vector anParallel.
5. The method for modeling and compensating for installation errors of a conduit based on digital quantities as claimed in claim 3, wherein step S301 comprises:
by adjusting a straight line section vector b matched with the clamp by the guide pipe bi', making it vector with the axis of the band
Coaxial and passing through the center point G of the clamp, and the distance between the vector end point and the point G is kept constant. Namely:
in the formula bi' and bi"denotes the ith root vector of catheter B before and after compensation, Bi"and Bi"respectively represents the coordinates of the tip end points before and after the ith root vector compensation of the catheter b, wherein l is a constant and represents the vector biAnd vector
Parallel.
6. The method for modeling and compensating for the installation error of the conduit based on the digital quantity as claimed in claim 3, wherein the specific operation flow of the step S302 is as follows:
in the formula k1、k2Representing a vector b of the catheter biAnd the compensated vector biThe proportional relationship of the size of the' is a transition parameter.
7. The method of claim 2, wherein the distance value d is a function of the distance between the catheter and the reference catheter3The calculation method of (2) is as follows:
wherein k represents the k-th vector existence period of the catheterEdge structure, h1、h2Represents two end points of the peripheral structure, l is variable, and l is more than or equal to 0 and less than or equal to 1.
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Cited By (2)
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| CN113184215A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Method for installing aircraft skin exhaust guide pipe |
| CN114537705A (en) * | 2022-04-25 | 2022-05-27 | 成都飞机工业（集团）有限责任公司 | Airplane flaring conduit belt error assembly method and device, storage medium and equipment |
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