CN114018190B - Position error equal division method for positioning and hole making of local reference hole - Google Patents
Position error equal division method for positioning and hole making of local reference hole Download PDFInfo
- Publication number
- CN114018190B CN114018190B CN202111311283.8A CN202111311283A CN114018190B CN 114018190 B CN114018190 B CN 114018190B CN 202111311283 A CN202111311283 A CN 202111311283A CN 114018190 B CN114018190 B CN 114018190B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- axis
- coordinate
- transformation matrix
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
Abstract
A position error equal division method for positioning and hole making of local reference holes is characterized by comprising the following steps: it comprises the following steps: firstly, calculating a scale factor lambda of the distance between the reference holes according to the positions of the two detected reference holes; secondly, solving a coordinate transformation matrix under an original coordinate system and a target coordinate system which contain scale factors; thirdly, the position of the hole making point with the uniform error is solved by utilizing the solved scale factor and the coordinate transformation matrix. The algorithm is simple and convenient, and the drilling point positions of off-line programming do not need to be manually changed according to on-line detection data, so that the method can be automatically completed by integrating the on-line detection data into equipment; the invention greatly reduces the position accuracy requirement of the reference hole.
Description
Technical Field
The invention relates to a position error equal division method for positioning and drilling a hole facing a local reference hole, belongs to the technical field of automatic hole drilling of airplane assembly, and particularly relates to a method for solving the problem that the distance between partial holes for drilling is out of tolerance due to the error of the reference hole. The method can be used for being installed in various flexible track hole making systems, autonomous mobile automatic hole making systems, industrial mechanical arm hole making systems and the like, and the problem of position errors of local reference hole positioning is solved.
Background
The aircraft assembly is used as an important ring in the aircraft manufacturing process, accounts for 50% -70% of the whole aircraft manufacturing period, and plays a vital role in the manufacturing quality, the service life and the production cost of the whole aircraft. At present, manual operation is mostly adopted in the aircraft assembly process in China, the automation degree is low, and with the increase of the demand for the aircraft, the demand for the aircraft assembly automation is increasingly urgent. For the automated assembly technique of the docking of large parts of an aircraft, several solutions exist as follows: the automatic hole drilling system based on the flexible track comprises an industrial robot, an automatic movable type automatic hole drilling system and an automatic hole drilling system based on the flexible track. The drilling process is generally the same regardless of the automated drilling system used. Generally, a pressure foot and a main shaft are additionally arranged at the tail end of an automatic hole making system to make holes, the pressure foot applies pressing force to a skin for the first time to carry out unidirectional pressing during hole making, then the normal direction is detected, the pose is adjusted, and holes are made on the aircraft skin by the main shaft along the normal direction of the skin. At present, a common mode is that a tool point is arranged on a tool, an absolute coordinate system is established by using a measuring tool such as a laser tracker and the like to determine the position of the tool, and then the conversion relation between a product coordinate system and an equipment coordinate system is calculated by using the absolute coordinate system by measuring the position of mobile equipment under the absolute coordinate system. The method has large workload and high requirement on field auxiliary tools, and neglects the local part error of a large-size product when pursuing absolute precision, thereby easily causing local out-of-tolerance, such as the problems of short edge distance of a connecting hole of a belt plate butted by a circular seam and the like. Therefore, in the butt joint of large parts of an airplane, local datum holes are usually used as reference points to determine the positions of equipment and products, a plurality of datum holes are prepared in a butt joint area in a manual mode, a datum detection system is used for determining the positions of the datum holes in an equipment coordinate system, and meanwhile, the coordinates of the datum holes in a product coordinate system are extracted, so that the spatial transformation relation is calculated, and positioning is completed.
After the detection based on the reference holes, a significant problem is that the actual reference holes have errors even reaching more than 1mm, but the precision of the pitch of the holes is often less than 0.5 mm. Therefore, the error of the reference hole can lead the distance between certain holes to be out of tolerance, and the method for solving the problem is to divide the error equally and divide the distance error of the reference hole into all the reference holes, thereby ensuring that the distance between every two holes is within the error range.
Because the reference hole detection is on-line and the hole making position is defined off-line in the aircraft assembly process, how to utilize the reference hole position detected on-line and automatically divide the hole making position into a difficult problem which must be faced by the error and the like.
Disclosure of Invention
The invention aims to provide a position error equal division method for positioning and hole making of a local reference hole, aiming at the problem that errors exist between the reference hole detected on line and a predefined theoretical position.
The technical scheme of the invention is as follows:
a position error equal division method for positioning and hole making of local reference holes is characterized by comprising the following steps: it comprises the following steps: firstly, calculating a scale factor lambda of the distance between the reference holes according to the positions of the two detected reference holes; secondly, solving a coordinate transformation matrix under an original coordinate system and a target coordinate system which contain scale factors; thirdly, the position of the hole making point with the uniform error is solved by utilizing the solved scale factor and the coordinate transformation matrix.
The invention has the beneficial effects that:
the invention provides an error equal dividing method aiming at the problem that the theoretical definition position and the actual detection position of the reference hole and the hole making position have errors, the errors between the reference holes are uniformly divided into all hole making points, and the hole making point positions meeting the hole spacing requirement can be obtained even if the distance error of the reference holes spanning multiple hole making points is larger than the distance error of the holes. The method has the following remarkable advantages:
firstly, the algorithm is simple and convenient, does not need to manually change the drilling point positions programmed off-line according to on-line detection data, and can be automatically completed by being integrated in equipment; secondly, this method greatly reduces the positional accuracy requirements of the reference holes.
Drawings
FIG. 1 is a schematic diagram of a local fiducial hole location drilling problem.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1.
A position error halving method facing local reference hole positioning hole making comprises the following steps:
firstly, calculating a scale factor lambda of the distance between the reference holes according to the positions of the two detected reference holes;
setting the coordinates P of a point P in the original coordinate system and the target coordinate system E ＝[x 1 ,y 1 ,z 1 ] T And P P ＝[x 2 ,y 2 ,z 2 ] T 。
Setting two corresponding points P of the original coordinate system and the target coordinate system 1 、P 2 And obtaining a scale factor lambda according to the corresponding point vector modulo length:
in the formula:
the vector values of the two corresponding points under the original system and the target system,
secondly, solving a coordinate transformation matrix under an original coordinate system and a target coordinate system which contain scale factors;
because there are two independent equations in the above formula, and the postures of the two coordinate systems can be reached by rotating around any two coordinate axes, so according to the rotation of the moving axis, the original coordinate system is rotated around the Z axis by an angle C, and then rotated around the X axis by an angle a to reach the position of the target coordinate system, and then the coordinate transformation matrix T is:
in the formula: sA, cA, sC, and cC represent sinA, cosA, sinC, and cosC, respectively.
The first line of the expansion formula (2) can solve the angle C, and the obtained angle C can be substituted for the second line of the expansion formula (3) to obtain the angle a.
It should be noted that A, C angles of up to 16 combinations can be obtained depending on the quadrant. Due to the existence of multiple solutions, the solution sets need to be screened. When a flexible track hole making system of the machine body calculates a coordinate transformation matrix, an original coordinate system is specified to be an equipment coordinate system, and a target coordinate system is specified to be a product coordinate system. The relation between the equipment and the product is easy to confirm, the included angle between the Z axis of the equipment coordinate system and the normal outside the reference hole is small, so that the selection can be carried out through the included angle value, all feasible A, C angles are combined and substituted after the normal information selection, and the two corresponding points P are combined 1 、P 2 The coordinate values can be solved into two translation factors V corresponding to each A, C angle combination, and the average value is obtained to be used as the average value of the homogeneous transformation matrixAnd shifting the factors to obtain a complete homogeneous transformation matrix corresponding to each A, C angle combination.
And optimizing to obtain the fitting result degree of the coordinate transformation matrix according to a least square method by utilizing the coordinate values of the two corresponding points, and screening a solution with the optimal fitting result degree as a final coordinate transformation matrix.
In the specific implementation, in the calculation of the coordinate transformation matrix, a special pose may occur, for example, when a connecting line of two corresponding points is parallel to the coordinate axes of the original coordinate system, a universal joint deadlock phenomenon may occur. The deadlock phenomenon of the universal joint can cause the loss of one degree of freedom in the calculation of a coordinate transformation matrix, while the coordinate transformation matrix algorithm based on the double reference holes only uses two degrees of freedom for rotation solution to ensure that the solution exists, if the degree of freedom lost by the deadlock of the universal joint participates in the calculation, the algorithm can only use one effective degree of freedom, and the algorithm is invalid. Therefore, before algorithm operation is performed, the position relationship between the two corresponding points and the coordinate axis of the original coordinate system needs to be checked, and the degree of freedom is selected according to the result to be solved by the algorithm. It can be easily found from the relationship between the equipment and the processing surface that the two corresponding point vectors involved in the calculation are only possible to be parallel to the X-axis and the Y-axis, so there is a formula:
In the formula:
is composed of
Unitized results, i x 、i y As the original coordinate system X-axis and Y-axisAxial unit vector, θ 1 、θ 2 Are respectively
And the included angle between the X axis and the Y axis of the original coordinate system. And comparing the absolute values of the two included angles, and selecting the coordinate axis with the larger absolute value of the included angle for calculation to ensure that the solution can be obtained. If the included angle between the X axis and the X axis is large (more common), a mode of firstly rotating the C angle and then rotating the A angle by a formula (3) is adopted; if the included angle between the Y axis and the C axis is large, the mode of firstly rotating the C angle and then rotating the B angle is adopted.
Thirdly, the position of the hole making point after error equalization is solved by using the solved scale factor and the coordinate transformation matrix, as shown in formula (4).
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (3)
1. A position error equal division method for positioning and hole making of local reference holes is characterized by comprising the following steps: it comprises the following steps: firstly, calculating a scale factor lambda of the distance between the reference holes according to the positions of the two detected reference holes; secondly, solving a coordinate transformation matrix under an original coordinate system and a target coordinate system which contain scale factors; thirdly, solving the position of the hole making point after error equalization by using the solved scale factor and the coordinate transformation matrix; the method for calculating the scale factor lambda of the distance between the reference holes according to the detected positions of the two reference holes is as follows;
Setting the coordinates of a point P in the original coordinate system and the target coordinate system as P E ＝[x 1 ,y 1 ,z 1 ] T And P P ＝[x 2 ,y 2 ,z 2 ] T ；
Setting two corresponding points P of the original coordinate system and the target coordinate system 1 、P 2 And obtaining a scale factor lambda according to the corresponding point vector modulo length:
in the formula:
the vector values of the two corresponding points under the original system and the target system,
the formula for solving the coordinate transformation matrix under the original coordinate system and the target coordinate system containing the scale factors is as follows:
because there are two independent equations in the above formula, and the postures of the two coordinate systems can be reached by rotating around any two coordinate axes, so according to the rotation of the moving axis, the original coordinate system is rotated around the Z axis by an angle C, and then rotated around the X axis by an angle a to reach the position of the target coordinate system, and then the coordinate transformation matrix T is:
in the formula: sA, cA, sC, and cC represent sinA, cosA, sinC, and cosC, respectively;
the C angle can be solved in the first line of the expansion formula (2), and the obtained C angle is substituted for the second line of the expansion formula (3) to obtain an A angle;
it should be noted that A, C angles can be obtained in 16 combinations at most, depending on the quadrant; due to the existence of multi-solution phenomenon, a solution set needs to be screened; when a flexible track hole making system of the machine body calculates a coordinate transformation matrix, an original coordinate system is specified to be an equipment coordinate system, and a target coordinate system is specified to be an equipment coordinate system A product coordinate system; the relation between the equipment and the product is easy to confirm, the included angle between the Z axis of the equipment coordinate system and the normal outside the reference hole is small, so that the included angle value is used for carrying out selection, after the normal information is selected and solved, all feasible A, C angles are combined and substituted, and two corresponding points P are combined 1 、P 2 The coordinate values can be solved to obtain two translation factors V corresponding to each A, C angle combination, the average value is obtained to be used as the translation factor of the homogeneous transformation matrix, and a complete homogeneous transformation matrix corresponding to each A, C angle combination is obtained;
and optimizing to obtain the fitting result degree of the coordinate transformation matrix according to a least square method by utilizing the coordinate values of the two corresponding points, and screening a solution with the optimal fitting result degree as a final coordinate transformation matrix.
2. The method as claimed in claim 1, wherein in the second step of the calculation of the coordinate transformation matrix, a special pose may occur, such as a dead lock of the universal joint when the connecting line of the two corresponding points is parallel to the coordinate axes of the original coordinate system; the deadlock phenomenon of the universal joint can cause the loss of one degree of freedom in the calculation of a coordinate transformation matrix, and the coordinate transformation matrix algorithm based on the double reference holes only uses two degrees of freedom for rotation solution to ensure that the solution exists, if the degree of freedom lost by the deadlock of the universal joint participates in the calculation, the algorithm can only use one effective degree of freedom, so that the algorithm is invalid; therefore, before algorithm operation is carried out, the position relation between two corresponding points and the coordinate axis of the original coordinate system needs to be checked, and the degree of freedom is selected according to the result to be solved by the algorithm; it can be easily found from the relationship between the equipment and the processing surface that the two corresponding point vectors involved in the calculation are only possible to be parallel to the X-axis and the Y-axis, so there is a formula:
In the formula:
is composed of
Unitized results, i x 、i y Is the unit vector of the X axis and the Y axis of the original coordinate system, theta 1 、θ 2 Are respectively
The included angle between the X axis and the Y axis of the original coordinate system; comparing the absolute values of the two included angles, selecting a coordinate axis with a larger absolute value of the included angle for calculation, and ensuring that a solution can be obtained; if the included angle between the X axis and the X axis is large, a formula (3) is adopted to firstly turn the angle C and then turn the angle A; if the included angle between the Y axis and the C axis is large, the mode of firstly rotating the C angle and then rotating the B angle is adopted.
3. The method of claim 1, further comprising: the position of the hole making point after solving the error average by using the solved scale factor and the coordinate transformation matrix is represented by a formula (4):
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111311283.8A CN114018190B (en) | 2021-11-08 | 2021-11-08 | Position error equal division method for positioning and hole making of local reference hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111311283.8A CN114018190B (en) | 2021-11-08 | 2021-11-08 | Position error equal division method for positioning and hole making of local reference hole |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114018190A CN114018190A (en) | 2022-02-08 |
| CN114018190B true CN114018190B (en) | 2022-07-29 |
Family
ID=80061913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111311283.8A Active CN114018190B (en) | 2021-11-08 | 2021-11-08 | Position error equal division method for positioning and hole making of local reference hole |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114018190B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09183097A (en) * | 1995-12-28 | 1997-07-15 | Seikosha Co Ltd | Device for boring hole in printed board and boring method using the same |
| JPH09267297A (en) * | 1996-03-29 | 1997-10-14 | Seiko Precision Kk | Directional discriminating method of printed circuit board and drilling method and device thereof |
| CN103707356A (en) * | 2013-12-20 | 2014-04-09 | 中橡集团沈阳橡胶研究设计院 | Even-interval definite punching method of large rubber product |
| CN109794938A (en) * | 2019-02-01 | 2019-05-24 | 南京航空航天大学 | A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure |
| CN110766800A (en) * | 2019-10-15 | 2020-02-07 | 西安电子科技大学 | Reconstruction model registration method based on space three-point alignment |
| CN110849267A (en) * | 2019-12-02 | 2020-02-28 | 南京航空航天大学 | Method for positioning and converting coordinate system on product by mobile automatic system based on local reference hole |
| CN111469125A (en) * | 2020-04-01 | 2020-07-31 | 南京浦航机械科技开发有限公司 | Hole site correction method applied to automatic drilling and riveting of curved surface product |
-
2021
- 2021-11-08 CN CN202111311283.8A patent/CN114018190B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09183097A (en) * | 1995-12-28 | 1997-07-15 | Seikosha Co Ltd | Device for boring hole in printed board and boring method using the same |
| JPH09267297A (en) * | 1996-03-29 | 1997-10-14 | Seiko Precision Kk | Directional discriminating method of printed circuit board and drilling method and device thereof |
| CN103707356A (en) * | 2013-12-20 | 2014-04-09 | 中橡集团沈阳橡胶研究设计院 | Even-interval definite punching method of large rubber product |
| CN109794938A (en) * | 2019-02-01 | 2019-05-24 | 南京航空航天大学 | A kind of robot hole error-compensating apparatus and its method suitable for curved-surface structure |
| CN110766800A (en) * | 2019-10-15 | 2020-02-07 | 西安电子科技大学 | Reconstruction model registration method based on space three-point alignment |
| CN110849267A (en) * | 2019-12-02 | 2020-02-28 | 南京航空航天大学 | Method for positioning and converting coordinate system on product by mobile automatic system based on local reference hole |
| CN111469125A (en) * | 2020-04-01 | 2020-07-31 | 南京浦航机械科技开发有限公司 | Hole site correction method applied to automatic drilling and riveting of curved surface product |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114018190A (en) | 2022-02-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110434671B (en) | Cast member surface machining track calibration method based on characteristic measurement | |
| US9895810B2 (en) | Cooperation system having machine tool and robot | |
| CN111037328B (en) | Positioning method and machining method of shell part in horizontal machining center | |
| CN111702762B (en) | Industrial robot operation attitude optimization method | |
| CN109454281B (en) | Method for calibrating propeller workpiece coordinate system in robot milling | |
| CN106584206B (en) | A kind of drilling normal direction modification method of automatic drill riveter | |
| WO2022170841A1 (en) | Benchmark selection method for minimizing hole position errors in large-component hole group machining | |
| CN110411338B (en) | Welding gun tool parameter three-dimensional scanning calibration method for robot arc additive repair | |
| CN111889730B (en) | Robot hole-making reference setting method for weak-rigidity airplane component assembly | |
| CN110716497B (en) | Registration method based on plane reference constraint and margin constraint | |
| CN113561183B (en) | Robot arm target point online tracking method and system based on pose tracking system | |
| CN105354360A (en) | Method for closed-loop establishment of coordinate measuring control network in aircraft large-component assembling interface finish machining | |
| CN108339995B (en) | Angle-adjustable robot end effector installation mechanism and adjusting method thereof | |
| CN110788446B (en) | Attitude-changing real-time welding seam tracking method based on laser sensor | |
| CN110962127B (en) | Auxiliary calibration device for tail end pose of mechanical arm and calibration method thereof | |
| CN110849267B (en) | Method for positioning and converting coordinate system on product by mobile automatic system based on local reference hole | |
| CN114018190B (en) | Position error equal division method for positioning and hole making of local reference hole | |
| CN114367993A (en) | Device, system and method for converting space coordinates and scanning coordinates of complex curved surface | |
| CN112393708B (en) | In-situ measurement method for five-axis machining of blisk | |
| CN211440081U (en) | Robot calibration device at zero point | |
| CN106392950B (en) | A kind of aircraft assembly fixture locator connection structure | |
| CN115781716A (en) | Industrial robot visual servo track compensation method | |
| CN115562160A (en) | Right angle head indexing automatic compensation method, equipment, medium and product | |
| CN114833848A (en) | Rigidity-constrained robot milling cutter shaft vector and redundancy integrated planning method | |
| CN116197735A (en) | Novel intelligent machine tool machining system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |