CN114179004A - Aviation component positioning method - Google Patents
Aviation component positioning method Download PDFInfo
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- CN114179004A CN114179004A CN202111506902.9A CN202111506902A CN114179004A CN 114179004 A CN114179004 A CN 114179004A CN 202111506902 A CN202111506902 A CN 202111506902A CN 114179004 A CN114179004 A CN 114179004A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012360 testing method Methods 0.000 claims description 86
- 238000001514 detection method Methods 0.000 claims description 55
- 238000003756 stirring Methods 0.000 claims description 2
- 239000003973 paint Substances 0.000 description 6
- 238000005422 blasting Methods 0.000 description 5
- 238000005488 sandblasting Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of aviation component positioning, and discloses an aviation component positioning method.
Description
Technical Field
The invention relates to the technical field of aviation component positioning, in particular to an aviation component positioning method.
Background
When the aviation component is subjected to paint removal, testing or other operations, the aviation component needs to be positioned, so that the equipment for performing the operations can perform the operations on the aviation component according to a preset paint removal step or a preset testing point, however, the existing aviation component is placed to an operation point manually when being installed to the operation point, and the manual placement has position deviation, and the position of the existing equipment for performing the operations can deviate from a normal aviation component operation position when the aviation component is operated according to a set operation path because the position deviation of the aviation component during each placement cannot be identified.
Disclosure of Invention
In view of the shortcomings of the background art, the invention provides an aviation component positioning method, which is used for positioning an aviation component during operation of the aviation component.
In order to solve the technical problems, the invention provides the following technical scheme: the aviation component positioning method comprises a position detection unit, a comparison unit and a compensation unit, and specifically comprises the following steps:
s1: setting a reference coordinate, specifically, placing an aviation component on an operation point, wherein the aviation component is a reference part, detecting and recording the coordinate position of the reference part in a first coordinate system by using a position detection unit, and taking the coordinate position of the reference part in the first coordinate system as the reference coordinate;
s2: when an aviation part to be tested is placed at an operation point, detecting and recording the coordinate position of the aviation part to be tested in a first coordinate system by using a position detection unit, and taking the coordinate position of the aviation part to be tested in the first coordinate system as a test coordinate;
s3: comparing the reference coordinate with the test coordinate by using a comparison unit to obtain a difference value between the reference coordinate and the test coordinate;
s4: the compensation unit compensates the first coordinate system according to a difference between the reference coordinates and the test coordinates.
In one embodiment, the position detection unit is a robot with a force detection unit, a pressing head is mounted at the tail end of the robot, and the force detection unit is used for detecting the force applied to the pressing head;
in step S1, the magnitude of the reference force F1 is set, then the robot is used to drive the pressing head to touch the reference member, and when the force detection unit detects that the force applied to the pressing head is the same as the magnitude of the reference force F1, the coordinate information of the robot in the first coordinate system at this time is used as the reference coordinate;
in step S2, when the aerial part to be tested is placed at the operation point, the robot drives the pressing head to touch the aerial part to be tested according to the moving direction in step S1, and when the force detection unit detects that the force applied to the pressing head is the same as the reference force F1, the coordinate information of the robot in the first coordinate system at this time is used as the test coordinate.
In a certain embodiment, before performing step S1, the method further includes moving the pressing head to the pressing point of the reference piece by using a robot, and using coordinate information of the robot when the pressing head presses the pressing point at that time as the reference coordinate of the pressing point; after the compensation unit compensates the first coordinate system according to the difference between the reference coordinates and the test coordinates in step S4, the robot moves to the pressed point reference coordinates in the compensated first coordinate system to perform a test.
In a certain embodiment, the robot drives the pressing head to move to the reference coordinates of the pressing point in the compensated first coordinate system for testing includes testing the height adjustment of the aviation component testing tool, which is as follows: the robot drives the press head to stir the high-low position adjusting button on the aviation component testing tool and moves along with the high-low position adjusting button.
In a certain embodiment, the robot drives the pressing head to move along with the high-low position adjusting button is realized as follows: when the robot drives the pressing head to toggle the high-low position adjusting button, the force detection unit detects the acting force between the pressing head and the high-low position adjusting button in real time and judges whether the acting force is the same as the reference force F2, if the acting force is not the same as the reference force F2, the robot drives the pressing head to move, and the acting force between the pressing head and the high-low position adjusting button is the same as the reference force F2.
In a certain embodiment, the moving direction of the robot driving the pressing head to touch the reference member in step S1 and the moving direction of the robot driving the pressing head to touch the aviation component to be tested in step S2 are the X direction or the Y direction, when the X direction is the X direction, the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in the X direction, and when the Y direction is the Y direction, the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in the Y direction.
In one embodiment, the position detection unit comprises a robot and at least two laser position sensors disposed on the robot;
in step S1, a standard point location is determined on the reference member, the robot drives all the laser position sensors to irradiate the standard point location, when all the laser position sensors can output detection data, the robot stops moving, the detection data output by all the laser position sensors and the position information of the robot in the first coordinate system are recorded, the detection data output by all the laser position sensors are used as reference data, and the position information of the robot in the first coordinate system is used as reference coordinates;
in step S2, the robot carries all the laser position sensors to search for feature points of the aircraft part to be tested, and when the robot moves to a search point, the detection data output by all the laser position sensors is compared with the reference data, if the detection data output by all the laser position sensors is consistent with the reference data, the position information of the robot in the first coordinate system at that time is used as a test coordinate, and if the detection data output by all the laser position sensors is not consistent with the reference data after the robot moves to a specified search point, the robot outputs error reporting information.
In one embodiment, the position detection unit comprises three laser position sensors.
Compared with the prior art, the invention has the beneficial effects that: firstly, selecting an aviation component as a reference part, then obtaining a reference coordinate of the reference part through a position detection unit, wherein the reference coordinate is used as a reference coordinate, coordinates of the subsequent aviation component during operation are based on the reference coordinate, when the aviation component needs to be operated, firstly calculating a coordinate difference between the aviation component to be operated and the reference part, and then compensating the coordinates of a robot during operation on the aviation component according to the coordinate difference, so that the positions of a device for operating the aviation component and the aviation component during operation are relatively fixed, and further the normal operation of the aviation component is ensured.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic structural view of a test fixture during positioning;
FIG. 3 is a schematic view of the structure of an aircraft component requiring paint removal;
FIG. 4 is a diagram illustrating compensation of coordinates in a coordinate system according to an embodiment;
FIG. 5 is a schematic diagram of a part of a control program for testing the test fixture by the robot;
FIG. 6 is a schematic diagram of a part of a control program for positioning an aviation component by a robot in an embodiment.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, an aviation component positioning method includes a position detection unit, a comparison unit, and a compensation unit, and includes the following steps:
s1: setting a reference coordinate, specifically, placing an aviation component on an operation point, wherein the aviation component is a reference part, detecting and recording the coordinate position of the reference part in a first coordinate system by using a position detection unit, and taking the coordinate position of the reference part in the first coordinate system as the reference coordinate;
s2: when an aviation part to be tested is placed at an operation point, detecting and recording the coordinate position of the aviation part to be tested in a first coordinate system by using a position detection unit, and taking the coordinate position of the aviation part to be tested in the first coordinate system as a test coordinate;
s3: comparing the reference coordinate with the test coordinate by using a comparison unit to obtain a difference value between the reference coordinate and the test coordinate;
s4: the compensation unit compensates the first coordinate system based on a difference between the reference coordinates and the test coordinates.
As shown in fig. 2, when the aviation component is a test fixture 6, the test fixture 6 needs to be stirred to move the high-low position adjusting button 8 for testing, most of the existing test fixtures 6 are manually installed on the guide rail 5, the test fixture 6 is pushed to a test position on the guide rail 5, and then the robot 1 presses the high-low position adjusting button for testing. However, due to manual pushing, a certain deviation occurs in the position of the test fixture 6 relative to the robot 1, and if the position of the test fixture 6 is not located, and the deviation is calculated and compensated, the robot 1 cannot accurately press the high-low position adjusting button 8 to perform a test.
Based on this, in practical application of the present invention, the position detection unit is a robot 1 with a force detection unit, the end of the robot 1 is provided with a clamping tool 2, the clamping tool 2 is provided with a pressing head 4, and the force detection unit is used for detecting the force applied to the pressing head 4;
in step S1, the magnitude of the reference force F1 is set, then the robot 1 is used to drive the pressing head 4 to touch the reference member, and when the force detection unit detects that the force applied to the pressing head 4 is the same as the magnitude of the reference force F1, the coordinate information of the robot 1 in the first coordinate system at this time is used as the reference coordinate; since the position of the robot 1, which drives the pressing head 4 to touch the reference member, changes when the position of the test fixture 6 changes, the position of the test fixture 6 in the first coordinate system can be represented by the position of the robot 1 in the first coordinate system.
Specifically, when the reference force F1 is set to be 5N, the robot 1 drives the pressing head 4 to press the right side of the test fixture 6, and if the force detection unit detects that the force applied to the pressing head 4 is 5N, the coordinate information of the robot 1 at this time is used as the reference coordinate;
in addition, in this embodiment, before executing step S1, the robot 1 is further configured to drive the pressing head 4 to move to the pressing point of the reference piece, and coordinate information of the pressing head 4 at the pressing point at this time is used as a reference coordinate of the pressing point; after the compensation unit compensates the first coordinate system according to the difference between the reference coordinate and the test coordinate in step S4, the robot 1 drives the pressing head 4 to move to the reference coordinate of the pressing point in the compensated first coordinate system for testing;
when the test fixture 6 is placed on the test point, because of the position deviation, if the robot 1 still moves to the reference coordinate in step S1, the force applied to the pressing head 4 will not be the same as the reference force F1, and if the robot 1 presses the high-low position adjustment button 8 according to the preset movement trajectory, the high-low position adjustment button 8 may not be touched, and the test may not be performed normally.
In step S2, when the testing tool 6 to be tested is placed at the working point, the robot 1 drives the pressing head 4 to touch the testing tool 6 to be tested according to the moving direction in step S1, and when the force detection unit detects that the force applied to the pressing head 4 is the same as the reference force F1, the coordinate information of the robot 1 in the first coordinate system at this time is used as the testing coordinate. In actual use, it is ensured in step S2 that when there is a positional deviation in the placement position of the test fixture 6, the force detection unit can detect this deviation by the pressing head 4 and compensate for the deviation, specifically, the zero point position of the first coordinate system is changed based on the difference between the reference coordinate and the test coordinate to ensure that the positions of the pressing head 4 and the height position adjustment button 8 are always relatively fixed, thereby ensuring that the test is normally performed.
In addition, the reference coordinates of the pressing points can be changed according to the difference between the reference coordinates and the test coordinates to make the positions of the pressing head 4 and the height position adjusting button 8 relatively fixed all the time, which is specifically as follows: as shown in fig. 4, it is assumed that in the coordinate system, the moving direction of the test fixture on the guide rail is the X direction, the reference coordinates are (X0, Y0), the reference coordinates of the pressing point are (X1, Y1), when the test fixture 6 to be tested is completely placed on the guide rail 5, if the force detection unit detects that the force applied to the pressing head 4 is the reference force F1, the coordinates of the robot 1, i.e., the test coordinates are (X2, Y0), the difference between the reference coordinates and the test coordinates is X2-X0, at this time, the reference coordinates of the pressing point are compensated according to the values of X2-X0, and the reference coordinates of the compensated pressing point are (X3, Y1), where X3 is X1+ X2-X0. In actual use, when a plurality of pressing points exist on the test fixture, the robot 1 is used to drive the pressing heads to move to the pressing points respectively before step S1, the coordinate information of the pressing head 4 at each pressing point is recorded, and the coordinate information of all the pressing points is compensated after the difference between the reference coordinate and the test coordinate is obtained in step S2. For example, in fig. 2, the test tool 6 is further provided with a left-right position adjustment button 7, and in this case, the second pressing head 3 is further attached to the clamping tool 2 for the convenience of the test, and the robot coordinate when the second pressing head 3 hits the left-right position adjustment button 7 is the pressing point coordinate information.
In addition, in this embodiment, the movement direction in which the robot 1 drives the pressing head 4 to touch the reference member in step S1 is the X direction, and the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in the X direction. In a certain embodiment, the moving direction of the robot 1 with the pressing head 4 touching the aviation component to be tested in step S2 may also be the Y direction, and when the moving direction is the Y direction, the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in the Y direction.
High low position adjustment button 8 can follow test fixture 6 and move together when pressing high low position adjustment button 8 to test fixture 6, consequently, it follows high low position adjustment button 8 and moves together to need robot 1 to drive press head 4, otherwise can influence test fixture 6's test, at present in order to realize the motion of following of press head 4, can deploy the position image that expensive visual system obtained press head 4 and high low position adjustment button 8, robot 1 is according to the motion of this position image control press head 4, however, this mode price is with high costs, be unfavorable for promoting. Based on this, in this embodiment, when the robot 1 drives the pressing head 4 to toggle the high-low position adjustment button 8, the force detection unit detects the acting force between the pressing head 4 and the high-low position adjustment button 8 in real time, and determines whether the acting force is the same as the reference force F2, if not, the robot 1 drives the pressing head 4 to move, so that the acting force between the pressing head 4 and the high-low position adjustment button 8 is the same as the reference force F2, and the robot 1 can be ensured to move along with the high-low position adjustment button 8 by this way. In one embodiment, the robot 1 may be a UR robot, which has a force control detection function and detects the force applied to the pressing head 4.
In this embodiment, a part of a control program for the robot 1 to test the test fixture 6 is shown in fig. 5.
As shown in fig. 3, when the surface of the aviation component 12 needs to be subjected to paint removal operation, the position detection unit comprises a robot 1 and three laser position sensors 11 arranged on the robot 1;
wherein, the robot 1 is an industrial 6-axis robot (for example, KUKA robot), and the robot 1 is fixed on a 7 th axis guide rail 10 which can move in the horizontal direction. Three high-precision laser position sensors 11 are arranged on a front end tool of the robot 1 according to a certain angle so as to realize target detection, and signals of the three laser position sensors 11 can be transmitted to a controller (Siemens PLC is selected in the embodiment). The PLC communicates with the robot 1 through a communication protocol of the PROFINET, and a communication data address is allocated, so that data related to a coordinate system of the robot 1 and the laser displacement sensor 5 can be conveniently transmitted. Three high-precision laser displacement sensors 11 are arranged on a front-end tool of the robot 1 according to a special angle, so that real-time position data of the laser displacement sensors 11 from the appearance curved surface of the aviation component 12 can be conveniently acquired;
in step S1, selecting one aviation component 12 as a reference component, determining a standard point location on the reference component, driving all the laser position sensors 11 by the robot 1 to irradiate the standard point location, stopping the movement of the robot 1 when all the laser position sensors 11 can output detection data, recording the detection data output by all the laser position sensors 11 and the position information of the robot 1 in the first coordinate system, taking the detection data output by all the laser position sensors 11 as reference data, and taking the position information of the robot 1 in the first coordinate system as reference coordinates;
in step S2, the robot 1 carries all the laser position sensors 11 to search for feature points of the aircraft part to be tested, and when the robot 1 moves to a search point, the detection data output by all the laser position sensors 11 is compared with the reference data, if the detection data output by all the laser position sensors 11 is consistent with the reference data, the position information of the robot 1 in the first coordinate system at that time is used as a test coordinate, and if the detection data output by all the laser position sensors 11 is not consistent with the reference data after the robot 1 moves to a specified search point, the robot 1 outputs error reporting information.
In order to facilitate sand blasting and paint removing, the front end of the robot 1 is further provided with a spray gun 13, and before performing step S1, the robot 1 can be used to drive the spray gun 13 to move on the surface of the aviation component 12, so as to determine a sand blasting and paint removing track, wherein the sand blasting track comprises a plurality of sand blasting points. Similarly, after the difference between the reference coordinates and the test coordinates is obtained, the zero point position of the first coordinate system may be supplemented, so as to ensure that the relative positions of the blasting gun 13 and the blasting point on the surface of the aircraft component 12 are always relatively fixed, and no deviation occurs due to non-uniform placement of the aircraft component 12. It is also possible to make the relative position of the blasting gun 13 and the blasting point of the surface of the aircraft component 12 relatively fixed at all times by modifying the coordinates of the blasting point.
In the present embodiment, a part of a control program for the robot 1 to position the air component 12 is shown in fig. 6.
In light of the foregoing, it is to be understood that various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. The aviation component positioning method is characterized by comprising a position detection unit, a comparison unit and a compensation unit, and comprises the following specific steps:
s1: setting a reference coordinate, specifically, placing an aviation component on an operation point, wherein the aviation component is a reference part, detecting and recording the coordinate position of the reference part in a first coordinate system by using a position detection unit, and taking the coordinate position of the reference part in the first coordinate system as the reference coordinate;
s2: when an aviation part to be tested is placed at an operation point, detecting and recording the coordinate position of the aviation part to be tested in a first coordinate system by using a position detection unit, and taking the coordinate position of the aviation part to be tested in the first coordinate system as a test coordinate;
s3: comparing the reference coordinate with the test coordinate by using a comparison unit to obtain a difference value between the reference coordinate and the test coordinate;
s4: the compensation unit compensates the first coordinate system according to a difference between the reference coordinates and the test coordinates.
2. The aviation component positioning method according to claim 1, wherein the position detection unit is a robot with a force detection unit, a pressing head is mounted at the tail end of the robot, and the force detection unit is used for detecting the force applied to the pressing head;
in step S1, the magnitude of the reference force F1 is set, then the robot is used to drive the pressing head to touch the reference member, and when the force detection unit detects that the force applied to the pressing head is the same as the magnitude of the reference force F1, the coordinate information of the robot in the first coordinate system at this time is used as the reference coordinate;
in step S2, when the aerial part to be tested is placed at the operation point, the robot drives the pressing head to touch the aerial part to be tested according to the moving direction in step S1, and when the force detection unit detects that the force applied to the pressing head is the same as the reference force F1, the coordinate information of the robot in the first coordinate system at this time is used as the test coordinate.
3. The aviation component positioning method according to claim 2, wherein before the step S1, the method further comprises using a robot to drive the pressing head to move to the pressing point of the reference member, and using coordinate information of the robot at the pressing point of the pressing head at that time as the reference coordinate of the pressing point; after the compensation unit compensates the first coordinate system according to the difference between the reference coordinates and the test coordinates in step S4, the robot moves to the pressed point reference coordinates in the compensated first coordinate system to perform a test.
4. The aviation component positioning method according to claim 3, wherein the step of testing by driving the pressing head to move to the reference coordinates of the pressing point in the compensated first coordinate system by the robot comprises testing the height position adjustment of the aviation component testing tool, and specifically comprises the following steps: the robot drives the press head to stir the high-low position adjusting button on the aviation component testing tool and moves along with the high-low position adjusting button.
5. The aviation component positioning method according to claim 4, wherein the robot drives the pressing head to move along with the high-low position adjusting button is realized as follows: when the robot drives the pressing head to toggle the high-low position adjusting button, the force detection unit detects the acting force between the pressing head and the high-low position adjusting button in real time and judges whether the acting force is the same as the reference force F2, if the acting force is not the same as the reference force F2, the robot drives the pressing head to move, and the acting force between the pressing head and the high-low position adjusting button is the same as the reference force F2.
6. The aviation component positioning method as claimed in claim 2, wherein the moving direction of the robot driving the pressing head to touch the reference member in step S1 and the moving direction of the robot driving the pressing head to touch the aviation component to be tested in step S2 are X direction or Y direction, and when the moving direction is X direction, the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in X direction, and when the moving direction is Y direction, the difference between the reference coordinate and the test coordinate in step S3 is the deviation between the reference coordinate and the test coordinate in Y direction.
7. The aircraft component positioning method of claim 1, wherein said position detection unit comprises a robot and at least two laser position sensors disposed on the robot;
in step S1, a standard point location is determined on the reference member, the robot drives all the laser position sensors to irradiate the standard point location, when all the laser position sensors can output detection data, the robot stops moving, the detection data output by all the laser position sensors and the position information of the robot in the first coordinate system are recorded, the detection data output by all the laser position sensors are used as reference data, and the position information of the robot in the first coordinate system is used as reference coordinates;
in step S2, the robot carries all the laser position sensors to search for feature points of the aircraft part to be tested, and when the robot moves to a search point, the detection data output by all the laser position sensors is compared with the reference data, if the detection data output by all the laser position sensors is consistent with the reference data, the position information of the robot in the first coordinate system at that time is used as a test coordinate, and if the detection data output by all the laser position sensors is not consistent with the reference data after the robot moves to a specified search point, the robot outputs error reporting information.
8. A method as claimed in claim 1, wherein the position sensing unit comprises three laser position sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111506902.9A CN114179004A (en) | 2021-12-10 | 2021-12-10 | Aviation component positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111506902.9A CN114179004A (en) | 2021-12-10 | 2021-12-10 | Aviation component positioning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114179004A true CN114179004A (en) | 2022-03-15 |
Family
ID=80604371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111506902.9A Withdrawn CN114179004A (en) | 2021-12-10 | 2021-12-10 | Aviation component positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114179004A (en) |
-
2021
- 2021-12-10 CN CN202111506902.9A patent/CN114179004A/en not_active Withdrawn
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Application publication date: 20220315 |