CN118205718A - Flexible processing and detecting integrated system and method for large parts of airplane - Google Patents
Flexible processing and detecting integrated system and method for large parts of airplane Download PDFInfo
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- CN118205718A CN118205718A CN202410486129.1A CN202410486129A CN118205718A CN 118205718 A CN118205718 A CN 118205718A CN 202410486129 A CN202410486129 A CN 202410486129A CN 118205718 A CN118205718 A CN 118205718A
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- 238000012545 processing Methods 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 238000003754 machining Methods 0.000 claims abstract description 57
- 230000008569 process Effects 0.000 claims abstract description 11
- 239000012636 effector Substances 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 17
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- 239000000428 dust Substances 0.000 claims description 10
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
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- 238000003475 lamination Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
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- 238000004519 manufacturing process Methods 0.000 description 6
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Abstract
The invention discloses a flexible machining and detecting integrated system and a method for large parts of an airplane, wherein the system comprises a flexible machining and detecting integrated device and at least two groups of flexible posture-adjusting positioning devices, the flexible machining and detecting integrated device comprises a double-gantry structure, a triaxial movement detecting device and a triaxial movement machining executing device, the posture of the large parts is adjusted after the flexible posture-adjusting positioning device moves to a working station, the triaxial movement detecting device detects machining position parameters on the large parts with the adjusted postures, the triaxial movement machining executing device machines the large parts according to detection results, and the triaxial movement detecting device detects machining and assembling quality parameters of the machined large parts; the invention can continuously detect the pose of the large part of the airplane, adaptively flexibly process and detect the assembly quality, accurately adjust the pose of the large part of the airplane according to real-time processing and detecting results, improve the assembly quality of the airplane and reduce the labor cost of personnel.
Description
Technical Field
The invention belongs to the technical field of accurate part machining, and relates to a flexible machining and detecting integrated system and method for large parts of an airplane.
Background
Modern aircraft industry manufacturing technology is innovated and upgraded continuously along with the development of complexity of modern aircraft, and traditional aircraft industry manufacturing technology cannot meet the production requirements of high quality and low cost of modern aircraft.
In the conventional aircraft industrial assembly and manufacturing process, after the machining positions and machining parameters, for example, the hole making positions and the hole making parameters, the end effector drives the corresponding machining tool to machine the large aircraft component. After the processing of the large aircraft component is finished, detecting the processing quality of the large aircraft component by detecting equipment, and re-processing the large aircraft component according to the detection result. The existing processing, transferring and detecting of the large aircraft component are relatively independent, in the transferring process of frequent processing and detecting, the pose of the large aircraft component is always changed, and then the processing quality and the detecting result of the aircraft are always error, and once the errors are accumulated, the final processing quality and the accuracy of the detecting result are difficult to meet the final assembly requirement of the large aircraft component, and the situation that the large aircraft component is out of tolerance and even cannot be assembled occurs.
Based on the problems of the existing large part processing system, the invention discloses a flexible processing and detecting integrated system and method for large parts of an airplane.
Disclosure of Invention
The invention aims to provide a flexible processing and detecting integrated system and method for large parts of an airplane, which can continuously detect the pose of the large parts of the airplane, adaptively and flexibly process and detect the assembly quality, accurately adjust the pose of the large parts of the airplane according to real-time processing and detecting results, improve the assembly quality of the airplane and reduce the labor cost of personnel.
The invention is realized by the following technical scheme:
The utility model provides an integrated system is detected in flexible processing towards aircraft major part, includes flexible processing and detects integrative device and at least two sets of flexible attitude positioner that adjusts that can pass in and out at the workstation of flexible processing and detects integrative device, flexible processing detects integrative device and includes two planer-type structures, triaxial removal detection device, triaxial removal processing execution device, be provided with triaxial removal detection device and triaxial removal processing execution device on the planer-type structure, flexible attitude positioner adjusts the appearance to the major part after removing to the workstation, triaxial removal detection device detects the processing position parameter on the major part that the attitude was accomplished, triaxial removal processing execution device processes the major part according to the result of detection, triaxial removal detection device detects the processing assembly quality parameter of the major part after the processing.
In order to better realize the invention, the triaxial movement detection device further comprises a laser displacement detection device and a surface quality measurement device, wherein the laser displacement detection device is used for detecting the shape and position parameters of the large component, and the flexible gesture adjustment positioning device adjusts the gesture of the large component according to the shape and position parameters; the surface quality measuring device is used for detecting machining parameters of the machined large part, and the triaxial mobile machining executing device is used for machining the large part according to the machining parameters.
In order to better realize the invention, the triaxial mobile processing execution device further comprises an end effector, a vacuum dust collection device, a presser foot mechanism and a processing shape and position detection assembly, wherein the vacuum dust collection device is arranged on one side of the end effector, the presser foot mechanism is used for pressing the outer surface lamination of the large part according to shape and position parameters, the processing shape and position detection assembly is used for detecting the positioning parameters of the large part after gesture adjustment, and the end effector selects a corresponding cutter according to the processing parameters and processes the large part according to the positioning parameters and the processing parameters.
To better implement the present invention, further, the tooling shape and position detection assembly includes a visual detection camera for detecting hole sites on the large part, and a tooling displacement sensor for detecting surface curvatures and surface normals of the large part.
In order to better realize the invention, the device further comprises a rotary disc tool magazine, wherein the rotary disc tool magazine is arranged close to the execution end of the triaxial mobile processing execution device.
In order to better realize the invention, the flexible gesture adjusting and positioning device further comprises a linear moving part and a three-coordinate gesture adjusting device, wherein a plurality of groups of three-coordinate gesture adjusting devices are arranged on the linear moving part corresponding to gesture adjusting connection positions of large parts, a ball socket seat is arranged at the connection end of the three-coordinate gesture adjusting device, and a ball head locking mechanism is arranged on one side of the ball socket seat.
In order to better realize the invention, the connecting end of the three-coordinate gesture adjuster is further provided with a three-dimensional force sensor.
An integrated method for flexible processing and detection of large parts of an aircraft comprises the following steps:
Step1, hoisting a large part to a flexible gesture adjusting and positioning device, and adjusting the initial gesture of the large part through a three-coordinate gesture adjuster in the flexible gesture adjusting and positioning device;
Step 2, the flexible gesture adjusting and positioning device drives the large part to move to a working station of the flexible processing and detecting integrated device, the processing position parameters of the large part are detected once through the triaxial movement detecting device, and the flexible gesture adjusting and positioning device accurately adjusts the gesture of the large part according to the processing position parameters;
Step 3, secondarily detecting the processing position parameters of the large component by adopting a triaxial movement detection device, and calculating a processing correction compensation value according to the difference between the secondarily detected processing position parameters and the position and posture of the large component after accurate posture adjustment;
step 4, keeping the large part fixed, and performing adaptive pose adjustment by the triaxial mobile processing execution device based on the processing position parameter and the processing correction compensation value, so that the axis of an end effector in the triaxial mobile processing execution device coincides with a hole position normal vector on the large part;
and 5, machining the large part through axial feeding of the end effector, and detecting machining assembly quality parameters of the machined large part by adopting a triaxial movement detection device after the machining of the large part is completed.
In order to better implement the present invention, further, the step 5 specifically includes:
Step 5.1, adjusting the large part to a detection pose through a flexible pose adjusting and positioning device;
step 5.2, detecting the surface curvature and the hole position normal vector of the large part machining area through a laser displacement detection device in the triaxial movement detection device;
step 5.3, the triaxial movement detection device carries out adaptive pose adjustment based on the detection result of the step, so that the axis of the surface quality measurement device in the triaxial movement detection device coincides with the normal vector of the hole site on the large component;
And 5.4, detecting the machining assembly quality parameters of the machining area on the large part through a surface quality measuring device.
In order to better realize the invention, further, the machining and assembling quality parameters comprise hole site aperture, pit depth, pit diameter, concave-convex quantity of the connecting position and inclination quantity of the connecting position.
Compared with the prior art, the invention has the following advantages:
(1) The tail end actuator of the triaxial mobile processing executing device is provided with the presser foot mechanism, so that gaps among skin frameworks of large parts of the aircraft can be reduced, hole making error is reduced, and the stability of the machine tool is improved; the visual detection camera is arranged to measure the accurate position of the pre-connection positioning hole of the appearance curved surface of the large part of the airplane, the actual processing position is adjusted according to the pre-connection positioning hole, the accuracy of the actual processing position of the large part of the airplane is ensured, and the quality of the large part is improved; the vacuum dust collection device is arranged, so that the damage of machining chips and dust to the outer surface of the large part of the aircraft and the influence of the dust on the environment are fully reduced, and the requirements of green and green manufacturing are met;
(2) The triaxial movement detection device and the triaxial movement processing execution device are both provided with laser displacement sensors, curvature and normal vector of the region to be processed and the region to be detected are measured, accuracy of detection normal vector of machine tool processing and assembly quality is guaranteed, and processing quality of large parts is improved;
(3) The surface quality measuring device is used for measuring the aperture, the nest diameter and the nest depth of a machining area after the machining of the large part of the airplane, and measuring the concave-convex quantity and the inclination quantity of a connecting piece in an assembling area after the assembly of the large part of the airplane, so that the machining and the assembly quality of the large part of the airplane are ensured;
(4) The tail end of the three-coordinate gesture adjuster in the flexible gesture adjusting and positioning device is provided with a ball socket seat and a ball head locking mechanism, and the ball head of the supporting tool can be quickly locked and released through the ball head locking mechanism, so that the supporting tool is stably supported, and the stable processing of large parts of the aircraft is ensured; setting a three-dimensional force sensor, monitoring X-direction, Y-direction and Z-direction stress values in the processing process of the large aircraft component, judging whether the stress of each three-coordinate attitude regulator exceeds a stable threshold value, reminding an operator to adjust the attitude of the large aircraft component, and ensuring that the large aircraft component is stably and firmly processed;
(5) The integrated control system in the control console realizes multi-axis synchronous adjustment of any number of three-coordinate gesture adjusters by multi-axis motion control of the three-coordinate gesture adjusters, and any gesture support widens the area to be processed and the application processing scene of the large part of the airplane;
(6) The flexible gesture-adjusting positioning device can be alternately transferred to a working station of the flexible processing and detecting integrated device, so that continuous alternate operation of gesture adjustment, gesture detection, processing and quality detection of large parts is realized, the utilization rate of the system is improved, and the pulse production requirement of the large parts of the aircraft is met.
Drawings
FIG. 1 is a schematic diagram of a flexible process detection integrated system;
FIG. 2 is a schematic diagram illustrating the installation of a three-axis motion detection device and a three-axis motion process execution device;
FIG. 3 is a schematic diagram of a three-axis motion detection device;
FIG. 4 is a schematic structural view of a three-axis mobile tooling actuator;
fig. 5 is a schematic structural view of a flexible posture-adjusting positioning device
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a schematic diagram of a three-axis motion detection device for detecting a large part;
FIG. 8 is a schematic diagram of a three-axis mobile tooling implement for machining large parts;
fig. 9 is a schematic flow chart of a flexible processing and detection integrated method.
Wherein: 1-a flexible processing and detecting integrated device; 2-a flexible gesture adjusting and positioning device; 3-triaxial movement detection means; 4-a triaxial mobile processing executing device; 5-rotating the disc tool magazine; 21-a linear movement section; 22-three-coordinate gesture adjuster; 23-ball socket; 24-ball locking mechanism; 25-a three-dimensional force sensor; 31-a laser displacement detection device; 32-a surface quality measuring device; 41-an end effector; 42-vacuum cleaning device; 43-presser foot mechanism; 44-visual inspection camera; 45-processing a displacement sensor.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the invention clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only that the directions are consistent with the upper, lower, left, and right directions of the drawings per se, and do not limit the structure, only for convenience of description and simplification of the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Term interpretation section: the terms "mounted," "connected," "secured," and the like in the present invention are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
Example 1:
The utility model provides a flexible processing detects integrated system towards aircraft major part, as shown in fig. 1-8, including flexible processing detects integrated device 1 and two at least groups can be at flexible processing detects the flexible attitude positioner 2 of the asynchronous business turn over of workstation of integrated device 1, flexible processing detects integrated device 1 and includes two planer structures, triaxial removal detection device 3, triaxial removal processing execution device 4, be provided with triaxial removal detection device 3 and triaxial removal processing execution device 4 on the planer structures, flexible attitude positioner 2 moves to the workstation after the major part is transferred, triaxial removal detection device 3 detects the processing position parameter on the major part that the attitude was accomplished, triaxial removal processing execution device 4 processes the major part according to the result of detection, triaxial removal detection device 3 detects the processing assembly quality parameter of major part after the processing.
When any group of flexible gesture adjusting and positioning devices 2 drive the large component to enter the working station of the flexible processing and detecting integrated device 1, the rest flexible gesture adjusting and positioning devices 2 can preset the gesture of the large component outside the working station of the flexible processing and detecting integrated device 1.
The triaxial movement detection device 3 comprises a laser displacement detection device 31 and a surface quality measurement device 32, wherein the laser displacement detection device 31 is used for detecting shape and position parameters of a large part, and the flexible gesture adjustment positioning device 2 adjusts the gesture of the large part according to the shape and position parameters; the surface quality measuring device 32 is used for detecting the processing parameters of the processed large component, and the triaxial mobile processing executing device 4 is used for processing the large component according to the processing parameters. The shape and position parameters comprise curvature and hole position normal vector of a processing area on the large part, and the processing parameters comprise aperture, hole depth, pit diameter, concave-convex quantity of a connecting position and inclination quantity of the connecting position.
The triaxial mobile machining execution device 4 comprises an end effector 41, a vacuum dust collection device 42, a presser foot mechanism 43 and a machining shape and position detection assembly, wherein the vacuum dust collection device 42 is arranged on one side of the end effector 41, the presser foot mechanism 43 is used for pressing the outer surface lamination of the large part according to shape and position parameters, the machining shape and position detection assembly is used for detecting positioning parameters of the large part after gesture adjustment, and the end effector 41 selects a corresponding cutter according to the machining parameters and machines the large part according to the positioning parameters and the machining parameters.
The three-axis movement and detection of the three-axis movement detection device 3 and the three-axis movement processing execution device 4 are operated and monitored through the control console, the end effector 41 drills and countersinks the large part according to the processing parameters and the shape and position parameters, scraps generated in the processing process are sucked through the vacuum dust collection device 42, the pressing foot mechanism 43 presses the shape surface of the large part according to the shape and position parameters, and the positioning parameters of the large part after gesture adjustment are detected through the processing shape and position detection assembly.
Further, the machining shape and position detection assembly comprises a visual detection camera 44 and a machining displacement sensor 45, wherein the visual detection camera 44 is used for detecting hole positions on the large component, and the machining displacement sensor 45 is used for detecting surface curvature and a surface normal vector of the large component.
Example 2:
As shown in fig. 1, the flexible processing and detecting integrated system for large parts of an airplane is improved on the basis of the embodiment 1, and further comprises a rotary disc tool magazine 5, wherein the rotary disc tool magazine 5 is arranged close to an executing end of the triaxial mobile processing and executing device 4. The opposite side of the rotary disc tool magazine 5 is provided with a test tool table, and after the end effector 41 picks up the tools in the rotary disc tool magazine 5, the end effector 41 drives the tools to move to the test tool table for test cutting operation.
The rest of this embodiment is the same as embodiment 1 and will not be described here again.
Example 3:
The integrated system for flexible processing and detection of large parts of an aircraft is improved on the basis of the embodiment 1 or 2, as shown in fig. 6 and 7, the flexible gesture adjusting and positioning device 2 comprises a linear moving part 21 and a three-coordinate gesture adjusting device 22, a plurality of groups of three-coordinate gesture adjusting devices 22 are arranged on the linear moving part 21 corresponding to gesture adjusting connection positions of the large parts, a ball socket seat 23 is arranged at the connection end of the three-coordinate gesture adjusting device 22, and a ball head locking mechanism 24 is arranged on one side of the ball socket seat 23.
The linear moving part 21 comprises a linear slide rail and a workbench arranged on the linear slide rail, a plurality of three-coordinate gesture adjusters 22 are arranged at the top of the workbench, and a three-dimensional force sensor 25, a ball head locking mechanism 24 and a ball socket seat 23 are arranged at the connecting end of each three-coordinate gesture adjuster 22. The linear slide rail is mainly used for supporting a workbench, and the three-dimensional force sensor 25 is mainly used for detecting the forces of the ball socket seat 23 in the X direction, the Y direction and the Z direction. The ball lock mechanism 24 is used to lock the large component. The ball socket seat 23 is used for forming ball hinge connection and stably supporting the ball head of the large component supporting tool, and the pose adjustment of the large component in the six-degree-of-freedom direction can be realized by the linkage of the plurality of three-coordinate pose adjusters 22.
The rest of this embodiment is the same as embodiment 1 or 2, and will not be described here again.
Example 4:
The integrated method for flexible processing and detection of the large part of the airplane is realized based on a rapid flexible attitude adjustment device, as shown in fig. 9, and comprises the following steps:
Step 1, hoisting a large part to a flexible gesture adjusting and positioning device 2, and adjusting the initial gesture of the large part through a three-coordinate gesture adjuster 22 in the flexible gesture adjusting and positioning device 2;
Step 2, the flexible gesture adjusting and positioning device 2 drives the large component to move to a working station of the flexible processing and detecting integrated device 1, the processing position parameters of the large component are detected once through the triaxial movement detecting device 3, and the flexible gesture adjusting and positioning device 2 accurately adjusts the gesture of the large component according to the processing position parameters;
step 3, adopting a triaxial movement detection device 3 to secondarily detect the processing position parameters of the large component, and calculating a processing correction compensation value according to the difference between the secondarily detected processing position parameters and the position and posture of the large component after accurate posture adjustment;
step 4, keeping the large component fixed, and performing adaptive pose adjustment by the triaxial mobile machining execution device 4 based on the machining position parameter and the machining correction compensation value, so that the axis of the end effector 41 in the triaxial mobile machining execution device 4 coincides with a hole position normal vector on the large component;
And 5, machining the large part by axial feeding of the end effector 41, and detecting machining assembly quality parameters of the machined large part by adopting the triaxial movement detection device 3 after the machining of the large part is completed.
Further, the step 5 specifically includes:
step 5.1, adjusting the large part to a detection pose through the flexible pose adjusting and positioning device 2;
Step 5.2, detecting the surface curvature and the hole position normal vector of the large part processing area through a laser displacement detection device 31 in the triaxial movement detection device 3;
Step 5.3, the triaxial movement detection device 3 performs adaptive pose adjustment based on the detection result of step 5.2, so that the axis of the surface quality measurement device 32 in the triaxial movement detection device 3 coincides with the hole position normal vector on the large component;
and 5.4, detecting the machining assembly quality parameters of the machining area on the large part through the surface quality measuring device 32.
Repeating the steps 5.1-5.4 until the processing of all positions on the large part is completed.
Further, the machining and assembling quality parameters comprise hole site aperture, pit depth, pit diameter, concave-convex quantity of the connecting position and inclination quantity of the connecting position.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification and equivalent changes of the above embodiments according to the technical substance of the present invention fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides an integrated system is detected in flexible processing towards aircraft major part, includes flexible processing and detects integrative device (1) and at least two sets of flexible attitude positioner (2) that can be in and out at the workstation of flexible processing and detect integrative device (1), a serial communication port, flexible processing and detect integrative device (1) include two planer-type structures, triaxial remove detection device (3), triaxial remove processing and carry out device (4), be provided with triaxial remove detection device (3) and triaxial remove processing and carry out device (4) on the planer-type structures, flexible attitude positioner (2) are transferred the appearance to the major part after the workstation, triaxial remove detection device (3) and carry out the detection to the processing position parameter on the major part of the completion of attitude adjustment, triaxial remove processing and carry out device (4) and carry out the processing to the major part according to the result of detection, triaxial remove detection device (3) and carry out the processing assembly quality parameter to the major part after the processing.
2. The integrated system for flexible processing and detection of large parts of an aircraft according to claim 1, wherein the triaxial movement detection device (3) comprises a laser displacement detection device (31) and a surface quality measurement device (32), the laser displacement detection device (31) is used for detecting shape and position parameters of the large parts, and the flexible gesture-adjusting positioning device (2) adjusts the gesture of the large parts according to the shape and position parameters; the surface quality measuring device (32) is used for detecting machining parameters of the machined large part, and the triaxial mobile machining executing device (4) is used for machining the large part according to the machining parameters.
3. The integrated flexible processing and detecting system for large parts of aircraft according to claim 2, wherein the triaxial mobile processing and executing device (4) comprises an end effector (41), a vacuum dust collection device (42), a presser foot mechanism (43) and a processing shape and position detecting assembly, the vacuum dust collection device (42) is arranged on one side of the end effector (41), the presser foot mechanism (43) compresses the outer surface lamination of the large parts according to shape and position parameters, the processing shape and position detecting assembly is used for detecting the positioning parameters of the adjusted large parts, and the end effector (41) selects corresponding cutters according to the processing parameters and processes the large parts according to the positioning parameters and the processing parameters.
4. A flexible tooling detection integrated system for large aircraft parts according to claim 3, wherein the tooling shape and position detection assembly comprises a vision detection camera (44), a tooling displacement sensor (45), the vision detection camera (44) being used to detect hole sites on the large part, the tooling displacement sensor (45) being used to detect surface curvature and surface normal of the large part.
5. The integrated system for flexible machining and detection of large aircraft parts according to claim 4, further comprising a rotary disc magazine (5), wherein the rotary disc magazine (5) is arranged close to the execution end of the triaxial mobile machining execution device (4).
6. The integrated flexible processing and detecting system for large parts of an aircraft according to any one of claims 1 to 5, wherein the flexible gesture adjusting and positioning device (2) comprises a linear moving part (21) and a three-coordinate gesture adjusting device (22), a plurality of groups of three-coordinate gesture adjusting devices (22) are arranged on the linear moving part (21) corresponding to gesture adjusting connection positions of the large parts, a ball socket seat (23) is arranged at the connection end of the three-coordinate gesture adjusting device (22), and a ball head locking mechanism (24) is arranged on one side of the ball socket seat (23).
7. The integrated system for flexible processing and detection of large parts of aircraft according to claim 6, wherein the connecting end of the three-coordinate attitude regulator (22) is further provided with a three-dimensional force sensor (25).
8. An integrated method for flexible processing and detection of large parts of an aircraft, which is realized based on the integrated system for flexible processing and detection of any one of claims 1-7, and is characterized by comprising the following steps:
Step 1, hoisting a large part to a flexible gesture-adjusting positioning device (2), and adjusting the initial gesture of the large part through a three-coordinate gesture-adjusting device (22) in the flexible gesture-adjusting positioning device (2);
Step 2, the flexible gesture-adjusting positioning device (2) drives the large part to move to a working station of the flexible processing and detecting integrated device (1), the processing position parameters of the large part are detected once through the triaxial movement detecting device (3), and the flexible gesture-adjusting positioning device (2) accurately adjusts the gesture of the large part according to the processing position parameters;
Step 3, secondarily detecting the processing position parameters of the large component by adopting a triaxial movement detection device (3), and calculating a processing correction compensation value according to the difference between the secondarily detected processing position parameters and the position and posture of the large component after accurate posture adjustment;
Step 4, keeping the large part fixed, and performing adaptive pose adjustment by the triaxial mobile processing execution device (4) based on the processing position parameter and the processing correction compensation value, so that the axis of an end effector (41) in the triaxial mobile processing execution device (4) coincides with a hole position normal vector on the large part;
and 5, machining the large part through axial feeding of the end effector (41), and detecting machining assembly quality parameters of the machined large part by adopting a triaxial movement detection device (3) after the machining of the large part is completed.
9. The integrated method for flexible processing and inspection of large aircraft parts according to claim 8, wherein,
The step 5 specifically includes:
Step 5.1, adjusting the large part to a detection pose through a flexible pose adjusting and positioning device (2);
Step 5.2, detecting the surface curvature and the hole position normal vector of the large part processing area through a laser displacement detection device (31) in the triaxial movement detection device (3);
step 5.3, the triaxial movement detection device (3) carries out adaptive pose adjustment based on the detection result in step 5.2, so that the axis of the surface quality measurement device (32) in the triaxial movement detection device (3) coincides with a hole position normal vector on the large component;
And 5.4, detecting the machining assembly quality parameters of the machining area on the large part through a surface quality measuring device (32).
10. The integrated method for flexible processing and detection of large parts of an aircraft according to claim 9, wherein the processing and assembling quality parameters comprise hole site aperture, pit depth, pit diameter, concave-convex amount of connecting sites and inclination amount of connecting sites.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410486129.1A CN118205718A (en) | 2024-04-22 | 2024-04-22 | Flexible processing and detecting integrated system and method for large parts of airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410486129.1A CN118205718A (en) | 2024-04-22 | 2024-04-22 | Flexible processing and detecting integrated system and method for large parts of airplane |
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| Publication Number | Publication Date |
|---|---|
| CN118205718A true CN118205718A (en) | 2024-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410486129.1A Pending CN118205718A (en) | 2024-04-22 | 2024-04-22 | Flexible processing and detecting integrated system and method for large parts of airplane |
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| Country | Link |
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| CN (1) | CN118205718A (en) |
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2024
- 2024-04-22 CN CN202410486129.1A patent/CN118205718A/en active Pending
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