CN117140305A - Aircraft skin polishing device and aircraft skin polishing method based on laser scanning - Google Patents
Aircraft skin polishing device and aircraft skin polishing method based on laser scanning Download PDFInfo
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- CN117140305A CN117140305A CN202311434964.2A CN202311434964A CN117140305A CN 117140305 A CN117140305 A CN 117140305A CN 202311434964 A CN202311434964 A CN 202311434964A CN 117140305 A CN117140305 A CN 117140305A
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- aircraft skin
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- 238000005498 polishing Methods 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012423 maintenance Methods 0.000 claims abstract description 29
- 238000007517 polishing process Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 77
- 230000008439 repair process Effects 0.000 claims description 37
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000003973 paint Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 4
- 238000010422 painting Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000010009 beating Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0084—Other grinding machines or devices the grinding wheel support being angularly adjustable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to the technical field of aircraft skin polishing, and discloses an aircraft skin polishing device and an aircraft skin polishing method based on laser scanning. According to the aircraft skin polishing method, the aircraft skin polishing device polishes the standard appearance when leaving the factory and the maintained appearance after maintenance according to the same parameters and settings, obtains polishing frequency information respectively in the polishing process, converts the polishing frequency information into a spectrogram, and compares the spectrogram with the spectrogram. The aircraft skin polishing method provides more than one dimension for judging the appearance accuracy of the aircraft after maintenance.
Description
Technical Field
The invention relates to the technical field of aircraft skin polishing, in particular to an aircraft skin polishing device and an aircraft skin polishing method based on laser scanning.
Background
The aircraft skin refers to a member that is wrapped around the aircraft skeleton and secured to the aircraft skeleton with an adhesive or rivet and forms the exterior of the aircraft. After the appearance of the unassembled aircraft skin is determined to meet the design requirement through laser scanning, the unassembled aircraft skin is installed on an aircraft framework to integrally form the aircraft appearance. After the aerodynamic performance of the aircraft is determined to meet the requirements through wind tunnel tests, the combination of the aircraft skin and the aircraft skeleton is used as a standard shape for reference in mass production and maintenance later.
The aerodynamics of the aircraft is reduced and even the flight safety is endangered due to the breakage of the aircraft skin, the aircraft skin needs to be overhauled before each trip, and the accuracy of the appearance of the repaired aircraft needs to be measured after the aircraft skin is repaired.
In the production stage, the accuracy of the appearance of the airplane is obtained by scanning through a three-coordinate measuring machine, and the appearance is compared with the standard appearance after the scanning result is obtained. In the maintenance stage, the large three-coordinate measuring machine has high cost due to the huge overall appearance of the aircraft, and a common airport maintenance station is not provided with the three-coordinate measuring machine capable of scanning the overall appearance of the aircraft. In the prior art, an unmanned plane is adopted to carry out laser scanning on an aircraft and then a three-dimensional model is established for comparison, the accuracy of the appearance of the repaired aircraft (hereinafter, the appearance of the repaired aircraft is briefly described as a maintenance appearance) is determined, and the accuracy of the aerodynamic model of the aircraft after the skin is installed is required to reach the level of 0.01mm, so that the accuracy of the maintenance appearance is still difficult to ensure in the mode.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the background art.
In order to achieve the above object, the present invention provides an aircraft skin polishing device based on laser scanning, comprising:
the laser scanning mechanism comprises an unmanned aerial vehicle and a laser scanner arranged on the unmanned aerial vehicle, and is used for positioning the placing position and angle of the aircraft;
a moving mechanism;
the polishing mechanism comprises a six-axis robot, a connecting disc, a polishing motor and a polishing disc, wherein the six-axis robot is arranged on the moving mechanism, the driving end of the six-axis robot is connected with the polishing motor, the polishing motor is in driving connection with the connecting disc, and the polishing disc is arranged on the connecting disc;
the detection device is fixedly connected with the connecting disc and used for acquiring vibration frequency information of the polishing disc.
As some sub-schemes of the technical scheme, the connecting disc comprises a disc body and a detection frame, the polishing motor is connected with the disc body in a driving mode, the detection frame extends out of the polishing motor and is fixed on one side of the disc body, which is opposite to the polishing motor, the polishing disc is provided with holes for avoiding the detection device, and the polishing disc is fixed on one side of the disc body, which is opposite to the polishing motor.
As some sub-aspects of the above technical solution, the detection device includes a detection element and a control circuit board, the control circuit board is disposed on the land, the detection element is disposed on a side of the control circuit board facing away from the land, and the detection element is in close proximity to the polishing pad.
As some sub-aspects of the above technical solution, the detection element is a displacement sensor.
As some sub-aspects of the above technical solution, the number of the detection elements is two or more, the number of the detection frames corresponds to the number of the detection elements, and the detection elements and the detection frames are uniformly arranged along a circumferential direction of the connection pad.
The invention also provides an aircraft skin polishing method, which comprises the following steps:
s100: painting the standard appearance of the aircraft when leaving the factory;
s200: scanning the aircraft through a laser scanning mechanism to determine the placement position and angle of the aircraft, determining the polishing depth, the polishing rotating speed, the polishing disc, the polishing path and the advancing speed along the path, and polishing the standard appearance after paint spraying in S100;
s300: the detection device acquires vibration frequency information and sets the vibration frequency information as standard polishing frequency information;
s400: the controller outputs a standard spectrogram according to the standard polishing frequency information;
s500: the method comprises the steps of obtaining a maintenance appearance after repairing and leveling a maintenance point filler of an aircraft skin, carrying out paint spraying on the maintenance point, scanning the aircraft through a laser scanning mechanism to determine the placing position of the aircraft, and polishing the maintenance point with the same polishing depth, polishing rotation speed, polishing disc and polishing path in S200;
s600: the detection device acquires vibration frequency information of the polishing disc in the whole polishing process and sets the vibration frequency information as repairing polishing frequency information;
s700: the controller outputs a repairing spectrogram according to the repairing and polishing frequency information;
s800: the controller compares the repair spectrogram with the standard spectrogram; if the highest point of the repair spectrogram is higher than the highest point of the standard spectrogram, and meanwhile, the right high point of the highest point of the repair spectrogram accords with the rule that the high points gradually decrease to the right and are higher than the highest point of the standard spectrogram, the controller sends out an alarm.
As some sub-schemes of the above technical scheme, in step S300, when the detection device collects standard polishing frequency information, the controller also correspondingly records the collection time of the vibration frequency information; meanwhile, in step S600, when the detection device collects the repair polishing frequency information, the controller correspondingly records the collection time of the vibration frequency information, and in step S800, when the controller performs comparison, the repair spectrogram and the standard spectrogram are compared in sections at a certain time interval.
As some sub-schemes of the above technical solution, in step S800, when comparing the highest points of the repair spectrogram and the standard spectrogram, the controller multiplies the amplitude of the highest point of the standard spectrogram by the tolerance coefficient and then compares the amplitude with the highest point of the repair spectrogram.
As some sub-schemes of the above technical scheme, the controller converts the standard polishing frequency information into a txt format file and sets the txt format file as a first file, the controller converts the repair polishing frequency information into a txt format file and sets the txt format file as a second file, and the controller processes the first file and the second file by adopting a fast fourier transform function to obtain a standard spectrogram and a repair spectrogram.
The invention has the beneficial effects that: the aircraft skin polishing device is provided with the detection device, the vibration frequency of the polishing disc is obtained when the aircraft skin is polished, the consistency of the maintenance appearance and the standard appearance is known by comparing the vibration frequency of the aircraft skin polishing device when the aircraft skin with the standard appearance is polished and the vibration frequency of the aircraft skin with the maintenance appearance is compared, and the accuracy of judging the maintenance appearance is provided by one more dimension.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic illustration of the use of a laser scanning based aircraft skin sharpening device of the present invention;
fig. 2 is a schematic view of the grinding mechanism 2;
FIG. 3 is a partial cross-sectional view at A in FIG. 2;
FIG. 4 is a logic flow diagram of an aircraft skin sanding method of the present invention;
fig. 5 is a schematic diagram of step S310;
fig. 6 is a schematic diagram of step S610;
fig. 7 is a schematic diagram of step S810;
FIG. 8 is a standard spectrum diagram;
FIG. 9 is a graph of a repair spectrum.
In the accompanying drawings: 1-a moving mechanism; 2-a polishing mechanism; 21-a polishing motor; 22-connecting discs; 221-a tray body; 222-a detection frame; 23-grinding disc; 24-six axis robot; 3-a detection device; 4-unmanned aerial vehicle.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
Embodiments of the present invention are described below with reference to fig. 1 to 9.
The invention provides an aircraft skin polishing device and an aircraft skin polishing method based on laser scanning. Specifically, the aircraft skin polishing method needs to be implemented by an aircraft skin polishing device, a controller and a display panel. The aircraft skin polishing device comprises a laser scanning mechanism, a moving mechanism 1, a polishing mechanism 2 and a detecting device 3, wherein the laser scanning mechanism is used for carrying out flight scanning on the placing position and angle of a positioning aircraft through a laser scanner installed on an unmanned plane 4, the moving mechanism 1 is used for driving the polishing mechanism 2 to move so as to polish the aircraft skin, the detecting device 3 is used for acquiring polishing frequency information and is in communication connection with a controller so as to transmit the polishing frequency information, and a display panel is in communication connection with the controller so as to display the polishing frequency information after the controller processes the polishing frequency information.
The aircraft skin polishing method comprises the following steps:
s100: painting the standard appearance of the aircraft when leaving the factory, wherein the standard appearance refers to the appearance of the whole aircraft which passes the wind tunnel test after the aircraft skin is assembled to the aircraft skeleton in the production stage;
s200: scanning the plane through a laser scanning mechanism to determine the placement position and angle of the plane, determining the polishing depth, the polishing rotating speed, the polishing disc 23, the polishing path and the advancing speed along the path, and polishing the standard appearance after paint spraying in S100;
s300: the detection device 3 collects vibration frequency information and sets the vibration frequency information as standard polishing frequency information;
s400: the controller outputs a standard spectrogram according to the standard polishing frequency information;
s500: the maintenance appearance is obtained after repairing and leveling the filling material of the maintenance point of the aircraft skin, after painting the maintenance point, the aircraft is scanned by a laser scanning mechanism to determine the placement position of the aircraft, and then the maintenance point is polished with the same polishing depth, polishing rotation speed, polishing disc 23 and polishing path in S200;
s600: the detection device 3 collects vibration frequency information of the polishing disc 23 in the whole polishing process and sets the vibration frequency information as repairing polishing frequency information;
s700: the controller outputs a repairing spectrogram according to the repairing and polishing frequency information;
s800: the controller compares the repair spectrogram with the standard spectrogram; if the highest point of the repair spectrogram is higher than the highest point of the standard spectrogram, and meanwhile, the right high point of the highest point of the repair spectrogram accords with the rule that the high points gradually decrease to the right and are higher than the highest point of the standard spectrogram, the controller sends out an alarm. The controller sends out alarm information through the display panel to remind operators to further determine whether the maintenance appearance is accurate.
Based on the steps, after the aircraft passes the wind tunnel test for the first time and is sprayed with paint, the acquisition of the polishing frequency information is increased in the process of performing the first polishing procedure to obtain the standard polishing frequency information, and the standard polishing frequency information is stored to be used as the basis of comparison in the future; and subsequently, correspondingly acquiring repairing and polishing frequency information in the process of repairing the aircraft skin, comparing the standard polishing frequency information with the repairing and polishing frequency information, namely obtaining the consistency of the repaired maintenance appearance and the standard appearance when leaving the factory, and providing the accuracy of judging the maintenance appearance by one more dimension.
Specifically, in S500, the paint thickness of the paint for the repair profile is ensured to be the same as that in S100 as much as possible to reduce interference factors when the standard profile and the repair profile are compared.
Before comparing the standard polishing frequency information and the repairing polishing frequency information, the controller firstly converts the standard polishing frequency information into a txt-format file and sets the txt-format file as a first file, converts the repairing polishing frequency information into a txt-format file and sets the txt-format file as a second file, and then processes the first file and the second file by adopting a fast Fourier transform function to obtain a standard spectrogram and a repairing spectrogram. The standard spectrogram and the repair spectrogram are compared in a mode of obtaining the standard spectrogram and the repair spectrogram through the Fourier transform function, and when the controller sends out alarm information through the display panel, an operator can further determine the reliability of the alarm information by checking the standard spectrogram and the repair spectrogram.
Wherein, the motor 21 adopts servo motor to guarantee the precision of polishing disc 23 operation. The sanding disc 23 is rotated by the sanding motor 21 to sand the aircraft skin. When a small convex or concave defect appears on the repaired aircraft skin, the vibration frequency of the grinding disc 23 can change in response when passing through the defect position. For example, when the defect position is in a convex defect or a concave defect, when the polishing disc 23 is driven by the motor to pass through the convex defect position, the convex defect position generates additional supporting force on the polishing disc 23, so that the polishing disc 23 is jacked up, the amplitude of the polishing disc 23 is increased, and the vibration frequency is reduced; while the grinding disc 23 loses support when the grinding disc 23 passes through the concave defect position, the amplitude also increases and the vibration frequency also decreases. But the amplitude and frequency of vibration change through the concave defect is generally less than that of the convex defect.
The above is a response change in amplitude and vibration frequency due to the outline of the defective position, and when the relative position between the defective position and the grinding wheel 23 is taken into consideration, a regular change in amplitude and vibration period occurs. Specifically, when the grinding disc 23 is moved by the moving mechanism 1 according to the set grinding path, the amplitude and the vibration frequency change gradually become larger when the grinding disc 23 approaches the defect position, that is, the amplitude is larger and the vibration frequency is smaller when the grinding disc 23 approaches the defect position; when the vibration frequency information is acquired by the detection device 3, feedback is given when a spectrogram is output through the controller.
To help locate the position of the alarm point, step S300 further includes step S310: when the detection device 3 collects standard polishing frequency information, the controller correspondingly records the collection time of the vibration frequency information; meanwhile, in step S600, step S610 is further included, when the detection device 3 collects repair polishing frequency information, the controller correspondingly records the collection time of the vibration frequency information, and in step S800, step S810 is further included: before the controller performs comparison, the repair spectrogram and the standard spectrogram are compared in a segmented mode in a certain time interval. Therefore, when the controller gives an alarm, a corresponding time interval can be acquired, and the position of the alarm point is roughly determined according to the time information, the advancing speed and the polishing path, so that the position of the alarm point can be quickly determined.
On the premise that the repaired maintenance appearance is consistent with the standard appearance when leaving the factory, the same polishing device is adopted, and the aircraft skin is polished by the same parameters (namely the polishing depth, the polishing rotating speed, the polishing disc 23, the polishing path and the advancing speed along the path), so that certain errors exist in spectrograms at different time points due to the influence of environmental factors, even if the method only needs to compare the highest point and the high point of the spectrograms, certain errors are possible, and therefore, tolerance coefficients are also configured during comparison. Specifically, in step S800, when comparing the highest points of the repair spectrogram and the standard spectrogram, the controller multiplies the amplitude of the highest point of the standard spectrogram by the tolerance coefficient and then compares the amplitude with the highest point of the repair spectrogram.
For example, referring to fig. 8 and 9, the buffing depth was 0.02mm, the buffing speed was 3500rpm, the advancing speed was 30mm/s, and the planned advancing path was a straight line parallel to the longitudinal axis direction of the airplane. And polishing the standard appearance subjected to wind tunnel test and paint spraying, acquiring polishing vibration frequency through the detection device 3 in the polishing process, inputting the polishing vibration frequency into the controller, and processing the vibration frequency information by the controller by adopting a fast Fourier transform function to obtain a standard spectrogram. The highest point of the standard spectrogram corresponds to a frequency of 43Hz and an amplitude of 2.2e -4 mm, the tolerance factor is set to 1.3.
The repair appearance after repair and after paint spraying is polished by adopting the same polishing depth, polishing rotating speed, advancing speed and advancing path, polishing vibration frequency is acquired by the detection device 3 in the polishing process, and the controller processes the vibration frequency information by adopting a fast Fourier transform function to obtain a repair spectrogram. The highest point in the repair spectrogram corresponds to a frequency of 33Hz and an amplitude of 3.2e -4 mm。
3.2e -4 mm is greater than 2.2e -4 mm multiplied by 1.3 (i.e. 2.86e -4 mm). It can be seen that the amplitude of the highest point of the repair spectrogram is larger than that of the highest point of the standard spectrogram, the corresponding frequency of the highest point of the repair spectrogram is smaller than that of the highest point of the standard spectrogram, and the right side of the highest point of the repair spectrogram is highAnd at the moment, the position of the defect point can be primarily judged according to the time interval intercepted by the vibration frequency information and combining the advancing speed and the polishing path.
The invention relates to a polishing device, in particular to an airplane skin polishing device based on laser scanning, which comprises: the laser scanning mechanism comprises an unmanned aerial vehicle 4 and a laser scanner arranged on the unmanned aerial vehicle 4, wherein the unmanned aerial vehicle 4 carries the laser scanner to perform flight scanning for positioning the placing position and angle of the aircraft; the polishing mechanism 2 comprises a six-axis robot 24, a connecting disc 22, a polishing motor 21 and a polishing disc 23, wherein the six-axis robot 24 is arranged on the moving mechanism 1, the driving end of the six-axis robot 24 is connected with the polishing motor 21, the polishing motor 21 is in driving connection with the connecting disc 22, and the polishing disc 23 is arranged on the connecting disc 22; the detection device 3 is fixedly connected with the connecting disc 22, and the detection device 3 is used for acquiring vibration frequency information of the polishing disc 23.
The aircraft skin polishing device is provided with the detection device 3, vibration frequency information of the polishing disc 23 is acquired while the aircraft skin is polished, and the accuracy of judging the maintenance appearance by one dimension is provided by comparing the vibration frequency information of the aircraft skin polishing device when the aircraft skin with the standard appearance is polished and when the aircraft skin with the maintenance appearance is polished, so that the maintenance appearance after repair is consistent with the standard appearance when leaving a factory.
The displacement mechanism 1 comprises in this embodiment a servo motor vehicle and a lifting mechanism. The polishing mechanism 2 is arranged at the driving end of the lifting mechanism.
The connection pad 22 includes disk body 221 and detection frame 222, polishing motor 21 with the disk body 221 drive connection, detection frame 222 is dorsad polishing motor 21 stretches out, detection device 3 is fixed in the disk body 221 one side of dorsad polishing motor 21, be provided with on the polishing dish 23 and dodge the installation detection device 3's hole, polishing dish 23 is fixed in the disk body 221 one side of dorsad polishing motor 21. The polishing disc 23 adopted in the polishing stage is required to adapt to the surface of the aircraft skin to change, so that a material capable of flexibly deforming is required to be used as the polishing disc 23, the thickness is required to be thicker, the thickness is usually more than 20mm, the detection frame 222 is arranged on the disc body 221, the detection device 3 can extend into the polishing disc 23 to be deeper, the distance between the detection device 3 and the surface of the aircraft skin is reduced, and the appearance error of the aircraft skin can be reflected to the detection device 3 more sensitively and accurately.
The detection device 3 comprises a detection element and a control circuit board, the control circuit board is arranged on the connecting disc 22, the detection element is arranged on one side of the control circuit board, which is opposite to the connecting disc 22, and the detection element is closely connected with the polishing disc 23. The detection element is in communication connection with the controller through the control circuit board, and polishing frequency information acquired by the detection element is transmitted to the controller. Considering that the polishing disc 23 is made of soft material, the detecting element in the detecting device 3 is set to be close to the polishing disc 23, and the detecting element obtains the vibration frequency information in a contact measurement manner, so that the reliability of the vibration frequency information source can be improved.
The detection element is a displacement sensor. The displacement sensor acquires vibration information of the grinding disc 23 in a contact measurement mode, and the vibration information of the grinding disc 23 can be acquired relatively stably and reliably by taking the soft material of the grinding disc 23 into consideration.
The number of the detection elements is more than two, the number of the detection frames 222 corresponds to the number of the detection elements, and the detection elements and the detection frames 222 are uniformly arranged along the circumferential direction of the connecting disc 22. A plurality of detection elements are arranged, vibration frequency information acquired by the plurality of detection elements is converted into spectrograms to be approximately compared and mutually verified, and errors caused by the occurrence of problems of single detection elements can be prevented. The approximate comparison may be an extremum comparison, such as a maximum, minimum, peak, slope, kurtosis comparison, or the like.
While the preferred embodiment of the present invention has been described in detail, the invention is not limited to the embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and these equivalent modifications and substitutions are intended to be included in the scope of the invention as defined in the appended claims.
Claims (9)
1. Aircraft skin grinding device based on laser scanning, its characterized in that: comprising the following steps:
the laser scanning mechanism comprises an unmanned aerial vehicle (4) and a laser scanner arranged on the unmanned aerial vehicle (4), and is used for positioning the placing position and angle of the aircraft;
a moving mechanism (1);
the polishing mechanism (2) comprises a six-axis robot (24), a connecting disc (22), a polishing motor (21) and a polishing disc (23), wherein the six-axis robot (24) is arranged on the moving mechanism (1), the driving end of the six-axis robot (24) is connected with the polishing motor (21), the polishing motor (21) is in driving connection with the connecting disc (22), and the polishing disc (23) is arranged on the connecting disc (22);
the detection device (3), detection device (3) and connection pad (22) rigid coupling, detection device (3) are used for obtaining the vibration frequency information of beating mill (23).
2. The laser scanning-based aircraft skin sharpening device of claim 1, wherein: the connecting disc (22) comprises a disc body (221) and a detection frame (222), the polishing motor (21) is in driving connection with the disc body (221), the detection frame (222) is opposite to the polishing motor (21) and stretches out, the detection device (3) is fixed on one side of the disc body (221) opposite to the polishing motor (21), holes for avoiding the detection device (3) are formed in the polishing disc (23), and the polishing disc (23) is fixed on one side of the disc body (221) opposite to the polishing motor (21).
3. The laser scanning-based aircraft skin sharpening device of claim 1, wherein: the detection device (3) comprises a detection element and a control circuit board, wherein the control circuit board is arranged on the connecting disc (22), the detection element is arranged on one side of the control circuit board, which is opposite to the connecting disc (22), and the detection element is closely connected with the polishing disc (23).
4. The laser scanning-based aircraft skin sharpening device of claim 3, wherein: the detection element is a displacement sensor.
5. The laser scanning-based aircraft skin sharpening device of claim 3, wherein: the number of the detection elements is more than two, the number of the detection frames (222) corresponds to the number of the detection elements, the combination of the detection elements and the detection frames (222) is used as a detection group, and the detection groups are uniformly arranged along the circumferential direction of the connecting disc (22).
6. The aircraft skin polishing method is characterized by comprising the following steps of: use of a laser scanning based aircraft skin sanding apparatus as defined in any one of claims 1 to 5, comprising the following steps in sequence:
s100: painting the standard appearance of the aircraft when leaving the factory;
s200: scanning the plane through a laser scanning mechanism to determine the placement position and angle of the plane, determining the polishing depth, the polishing rotating speed, the polishing disc (23), the polishing path and the advancing speed along the path, and polishing the standard appearance after paint spraying in S100;
s300: the detection device (3) collects vibration frequency information and sets the vibration frequency information as standard polishing frequency information;
s400: the controller outputs a standard spectrogram according to the standard polishing frequency information;
s500: repairing and leveling the filling material of the maintenance point of the aircraft skin to obtain a maintenance appearance, spraying paint on the maintenance point, scanning the aircraft through a laser scanning mechanism to determine the placement position of the aircraft, and polishing the maintenance point with the same polishing depth, polishing rotation speed, polishing disc (23) and polishing path in S200;
s600: the detection device (3) collects vibration frequency information of the polishing disc (23) in the whole polishing process and sets the vibration frequency information as repairing polishing frequency information;
s700: the controller outputs a repairing spectrogram according to the repairing and polishing frequency information;
s800: the controller compares the repair spectrogram with the standard spectrogram; if the highest point of the repair spectrogram is higher than the highest point of the standard spectrogram, and meanwhile, the right high point of the highest point of the repair spectrogram accords with the rule that the high points gradually decrease to the right and are higher than the highest point of the standard spectrogram, the controller sends out an alarm.
7. The aircraft skin sanding method of claim 6, wherein: in step S300, when the detection device (3) collects standard polishing frequency information, the controller also correspondingly records the collection time of the vibration frequency information; meanwhile, in step S600, when the detection device (3) collects the repair polishing frequency information, the controller correspondingly records the collection time of the vibration frequency information, and in step S800, when the controller performs comparison, the repair spectrogram and the standard spectrogram are compared in sections in a certain time interval.
8. The aircraft skin sanding method of claim 6, wherein: in step S800, when comparing the highest points of the repair spectrogram and the standard spectrogram, the controller multiplies the amplitude of the highest point of the standard spectrogram by the tolerance coefficient and then compares the amplitude with the highest point of the repair spectrogram.
9. The aircraft skin sanding method of claim 6, wherein: the controller converts the standard polishing frequency information into a txt format file and sets the txt format file as a first file, the controller converts the repairing polishing frequency information into the txt format file and sets the txt format file as a second file, and the controller processes the first file and the second file by adopting a fast Fourier transform function to obtain a standard spectrogram and a repairing spectrogram.
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| JP2002254303A (en) * | 2001-02-23 | 2002-09-10 | Toyoda Mach Works Ltd | Finishing device |
| JP2002307302A (en) * | 2001-04-17 | 2002-10-23 | Okamoto Machine Tool Works Ltd | Grinding device and method for determining cutting-in start point position of grinding wheel for workpiece |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
| CN115535288A (en) * | 2021-06-30 | 2022-12-30 | 上海玑智自动化科技有限公司 | Operation system and method for complete aircraft |
| CN116117659A (en) * | 2023-02-03 | 2023-05-16 | 中铁高新工业股份有限公司 | Coping robot |
| CN219649498U (en) * | 2023-04-22 | 2023-09-08 | 辽宁航星设备制造有限公司 | Aircraft skin production grinding device convenient to arcwall face is polished |
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| JP2002254303A (en) * | 2001-02-23 | 2002-09-10 | Toyoda Mach Works Ltd | Finishing device |
| JP2002307302A (en) * | 2001-04-17 | 2002-10-23 | Okamoto Machine Tool Works Ltd | Grinding device and method for determining cutting-in start point position of grinding wheel for workpiece |
| CN115535288A (en) * | 2021-06-30 | 2022-12-30 | 上海玑智自动化科技有限公司 | Operation system and method for complete aircraft |
| CN114536362A (en) * | 2022-02-24 | 2022-05-27 | 中国民用航空飞行学院 | Flexible aircraft paint removal robot and use method thereof |
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