CN202171443U - Measuring tool of top sphere center spatial coordinate of follow-up locater - Google Patents

Measuring tool of top sphere center spatial coordinate of follow-up locater Download PDF

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Publication number
CN202171443U
CN202171443U CN2011202820721U CN201120282072U CN202171443U CN 202171443 U CN202171443 U CN 202171443U CN 2011202820721 U CN2011202820721 U CN 2011202820721U CN 201120282072 U CN201120282072 U CN 201120282072U CN 202171443 U CN202171443 U CN 202171443U
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CN
China
Prior art keywords
centre
arm
trailing type
steady arm
support arm
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Withdrawn - After Issue
Application number
CN2011202820721U
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Chinese (zh)
Inventor
李泷杲
陈磊
黄翔
方伟
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Nanjing University of Aeronautics and Astronautics
Shanghai Aircraft Manufacturing Co Ltd
Original Assignee
Nanjing University of Aeronautics and Astronautics
Shanghai Aircraft Manufacturing Co Ltd
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Application filed by Nanjing University of Aeronautics and Astronautics, Shanghai Aircraft Manufacturing Co Ltd filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN2011202820721U priority Critical patent/CN202171443U/en
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Publication of CN202171443U publication Critical patent/CN202171443U/en
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Abstract

The utility model discloses a measuring tool of a top sphere center spatial coordinate of a follow-up locater, which comprises a laser tracking measuring apparatus, the follow-up locater, a locating industrial art connector and a measuring support arm. The locating industrial art connector is located above the follow-up locater, and the measuring support arm is surrounded on the follow-up locater. The locating industrial art connector is used for connecting an airplane component with the locater, and the annular measuring support arm is fixed on the upper lateral wall of the follow-up locater through clamp bolts on the two sides and used for measuring the top sphere center spatial coordinate of the locater. The measuring tool of the top sphere center spatial coordinate of the follow-up locater is simple in structure, high in accuracy and strong in generality and has no requirements on initial poses of the locater.

Description

The survey instrument of trailing type steady arm top centre of sphere volume coordinate
Technical field
The utility model relates to a kind of survey instrument of top sphere centre coordinate of trailing type steady arm; This steady arm is used in aircraft components butt joint assembling process; Adjustment aircraft components position and attitude the invention also discloses a kind of method of utilizing this survey instrument that the top sphere centre coordinate of trailing type steady arm is measured.
Technical background
The big parts butt joint assemblings of traditional aircraft (fuselage preceding posterior segment butt joint, the butt joint of wing fuselage etc.) adopt the hand steady arm to support the method for aircraft components and optics assist location, realize the pose adjustment of parts.This mode is owing to placing one's entire reliance upon artificial experience and manual operation, and labour intensity is big, and posture adjustment efficient is low, and the posture adjustment precision is difficult to guarantee.Not enough for overcoming conventional airplane component attitude adjusting method; Combined high precision measuring equipment (laser tracking measurement appearance, indoor GPS or laser radar); Adopt steady arm link automatically digitizing driving and control technology, realize aircraft part pose accurately automatically adjustment to become present generation aircraft development of manufacturing trend.Over year, Boeing 777,787, the A340 of Air Passenger, A380 progressively adopt the big parts robotization of aircraft steady arm linkage driving and control system to replace manually docking surplus in the of nearly ten.
At present, according to the difference that degree of freedom drives, autonavigator is divided into two types: active and trailing type.Active being meant in three directions of XYZ all has driven by servomotor, is similar to the three-dimensional numerically-controlled machine.Trailing type is meant in three directions of XYZ only has driven by servomotor on one or two direction, unfettered on remaining two or the direction, is in the state of being free to slide.Trailing type and active autonavigator cooperate according to certain relation to be arranged, supports aircraft components, can effectively guarantee to be in minimum stress shape body in the prerequisite that the obtains accurate pose adjustment structure of getting off the plane, and guarantees the precision and the safety of assembling.
The steady arm that aircraft factory is used for aircraft components butt joint assembling adopts hand trailing type steady arm mostly; Can install servomotor additional through technological transformation and realize automatic control steady arm; Perhaps design and make new trailing type autonavigator again according to the requirement of locating automatically; No matter be any, on the measurement of coordinates of centre of sphere locus, steady arm top, all there is certain objective problem:
1. traditional demarcation mode is through the in-site measurement base position, and the position relative position relation of the steady arm top centre of sphere and pedestal obtains when front retainer top sphere centre coordinate in combining then to design a model.This method is simple; But exist because locator structure is complicated, and transmission link is numerous, each manufacturing alignment error of forming link all will be delivered to the problem of the top centre of sphere; Therefore the accurate demarcation of sphere center position can't be realized in actual relative position relation and theoretical difference Shanghai Communications University.This in addition method only is fit to position measurement first, in adjustment process, owing to be in sliding mode on the several degree of freedom of follow-up locater, can't obtain its concrete translation numerical value, thereby can't realize the real-time measurement of centre of sphere locus, steady arm top coordinate.
2. can on three coordinates of motion axles of steady arm, install the grating chi additional, to obtain the current locus accurately of trailing type steady arm.This mode also is not suitable for existing manual positioning device transformation.Existing hand steady arm is owing to the initial design reason, and the inner space is narrow, after installing equipment such as servomotor, has not had redundant space to install on grating chi and the respective accessory, particularly Z direction, almost can't accurately locate and install.Thereby also can't effectively obtain centre of sphere locus, steady arm top coordinate.
3. for the trailing type steady arm that newly manufactures and designs, can accurately obtain the position of the steady arm top centre of sphere under steady arm self coordinate system through the grating chi.Obtain its locus under global coordinate system, also need obtain through steady arm base position (being steady arm self coordinate system) is demarcated with the adjustment repeatedly of global coordinate system, process is complicated; And because present condition of work, because the ground problem, the steady arm base position can change a lot, and this error can be passed through again to amplify and is passed to the steady arm top centre of sphere, causes its measurement and positioning to produce than mistake.
The utility model content
The technical matters that the utility model solves provides the survey instrument of a kind of trailing type steady arm top centre of sphere volume coordinate; Utilized in the aircraft components butt joint assembling process; Process connection and steady arm top ball-and-socket dimensional accuracy are high; It is little that both install tolerance clearance, and the characteristics that the propagation of error link is few are used process connection supports post sphere centre coordinate to measure and replaced the steady arm top centre of sphere to measure; For this reason, the utility model also provides a kind of method of utilizing this survey instrument that trailing type steady arm top centre of sphere volume coordinate is measured.
In order to solve the problems of the technologies described above; The survey instrument of the utility model trailing type steady arm top centre of sphere volume coordinate; Comprise laser tracking measurement appearance, trailing type steady arm, positioning process joint and measure support arm; Wherein, the positioning process joint is positioned at the top of trailing type steady arm, measures support arm and is looped around on the trailing type steady arm; Said positioning process joint comprises back up pad, perpendicular to the support column of back up pad bottom surface diagonal line intersection point be positioned on the diagonal line of back up pad bottom surface and to equidistant four pilot holes of support column; Be respectively equipped with the target ball on said four pilot holes; Said support column is positioned at the ball-and-socket on trailing type steady arm top; Said measurement support arm is an annular, comprises big ring support arm and little ring support arm, wherein, encircles support arm greatly and is provided with armed lever, and the top of this armed lever is provided with measured hole, and this measured hole is provided with dismountable target ball.
Further, in the survey instrument of the utility model trailing type steady arm top centre of sphere volume coordinate, armed lever is a rectangular parallelepiped, and the number of the measured hole on its top is 5;
Further, in the survey instrument of the utility model trailing type steady arm top centre of sphere volume coordinate, the quantity of the target ball on the measured hole is 1;
Further, in the survey instrument of the utility model trailing type steady arm top centre of sphere volume coordinate, the arch ring both sides of encircling support arm and little ring support arm greatly are fastening through grip nut respectively, and said measurement support arm is fixed on the trailing type steady arm.
The method that the utility model utilizes the survey instrument of trailing type steady arm top centre of sphere volume coordinate to measure may further comprise the steps:
Step 1, aircraft components is placed on the trailing type steady arm through the positioning process joint; Target ball I is installed on four pilot holes of positioning process joint; Use the laser tracking measurement appearance to measure target ball I then, obtain four centre of sphere volume coordinate a under the global coordinate system OXYZ 1, a 2, a 3, a 4
Step 2, utilize four centre of sphere volume coordinate a described in the step 1 1, a 2, a 3, a 4, the centre of sphere of combined process connection supports post bulb and this relative position of 4, the coordinate of the centre of sphere under global coordinate system of calculating process connection supports post bulb is steady arm top centre of sphere volume coordinate a q, be specially:
Four target ball I centre of sphere volume coordinate a on four pilot holes of steps A, positioning process joint 1, a 2, a 3, a 4Forming a space rectangle, is Z with the support column 1Direction of principal axis, setting long limit is X 1Axle, minor face is Y 1Axle is with rectangular centre O 1Be initial point, set up positioning process joint coordinate system O according to right hand rule 1X 1Y 1Z 1, obtain Z 1Axle unit vector direction Z 1
The centre of sphere and the rectangular centre O of step B, acquisition support column bulb 1Space length l;
Step C, according to Z 1Axle unit vector direction Z 1, space length l and rectangular centre O 1, utilize formula (3), obtain the coordinate a of the centre of sphere under global coordinate system of process connection supports post bulb q
a q=O 1+l·Z 1 (3)
Step 3, in five measured holes on the top of measuring support arm, select a measured hole, target ball II is installed, then use the laser tracking measurement appearance to measure this target ball, obtain the centre of sphere volume coordinate a under this ball global coordinate system OXYZ o
Step 4, utilize formula (1) to measure the centre of sphere volume coordinate a of target ball II on the support arm oWith steady arm top centre of sphere volume coordinate a qRelative coordinate relationship delta a o:
Δa o=a q-a o (1);
Step 5, in the aircraft component attitude adjusting process, carry out aircraft component attitude adjusting along with the trailing type steady arm moves, target ball II measures on the support arm to measuring to use the laser tracking measurement appearance, obtains the centre of sphere volume coordinate a of this target ball under the new global coordinate system Or
Step 6, according to the centre of sphere volume coordinate a of target ball II on the measurement support arm that obtains in the step 4 oWith trailing type steady arm top centre of sphere volume coordinate a qRelative coordinate relationship delta a o, utilize formula (2) to obtain the new volume coordinate a of the trailing type steady arm top centre of sphere Qr
a qr=a or+Δa o (2)。
The utility model compared with prior art, have following progressive ground conspicuousness advantage: (1) is simple in structure, cost is low, makes easily and installs; (2) precision is high, eliminates the influence of steady arm manufacturing and transmission link error, has improved measuring accuracy; (3) highly versatile does not require the initial pose of steady arm, and steady arm is under the state all can be measured; (4) effectively reduce the manufacturing installation accuracy of steady arm and the requirement of ground.
Description of drawings
Fig. 1 is the structural representation of positioning process joint in the utility model.
Fig. 2 is the coordinate synoptic diagram of target ball on four pilot holes in the positioning process joint in the utility model.
Fig. 3 is a structural representation of measuring jig arm in the utility model.
Fig. 4 is for measuring the combination synoptic diagram of support arm, positioning process joint and trailing type steady arm in the utility model.
Fig. 5 is the amplification profile of support column and trailing type place kick junction among Fig. 4.
Fig. 6 is the user mode figure of the survey instrument of the utility model trailing type steady arm top centre of sphere volume coordinate.
The drawing reference numeral explanation: 1 positioning process joint, 2 is measured support arm, 3 trailing type steady arms, 4 aircraft components, 5 laser tracking measurement appearance, 1a back up pad, 1b pilot hole, 1c support column, 1d target ball I, the little ring support arm of 2a, the big ring support arm of 2b, 2c measured hole, 2d grip nut, 2e armed lever, 2f target ball II.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail;
Like Fig. 1, shown in Figure 2; Positioning process joint 1 is a rectangle; Comprise back up pad 1a, perpendicular to the support column 1c of back up pad 1a bottom surface diagonal line intersection point be positioned on the diagonal line of back up pad 1a bottom surface and, on these four pilot hole 1b target ball I 1d can be housed respectively to equidistant four the pilot hole 1b of support column 1a.
As shown in Figure 3, measuring support arm 2 is annular, comprises big ring support arm 2b and little ring support arm 2a; Wherein, encircle support arm 2b greatly and be provided with armed lever 2e, this armed lever 2e is a rectangular parallelepiped; Its top is provided with measured hole 2c, and the number of this measured hole 2c is 5, and this measured hole is provided with dismountable target ball II2f; Target ball II quantity is 1, and the arch ring both sides of encircling support arm 2b and little ring support arm 2a greatly are arranged with grip nut 2d respectively.
Like Fig. 4, Fig. 5, shown in Figure 6, support column 1c is positioned at the ball-and-socket on trailing type steady arm 3 tops, measures the big ring support arm 2b of support arm 2 and the arch ring both sides of little ring support arm 2a and passes through the fastening 2d of grip nut respectively, will measure support arm 2 and be fixed on the trailing type steady arm 3.
The method that the utility model utilizes the survey instrument of trailing type steady arm top centre of sphere volume coordinate to measure may further comprise the steps:
Step 1, aircraft components is placed on the trailing type steady arm 3 through positioning process joint 1; Target ball I 1d is installed on four pilot hole 1b of positioning process joint 1; Use laser tracking measurement appearance 5 to measure this target ball then, obtain the centre of sphere volume coordinate a of four target ball I 1d under the global coordinate system OXYZ 1, a 2, a 3, a 4
Step 2, utilize four centre of sphere volume coordinates described in the step 1, calculate the coordinate of the centre of sphere under global coordinate system of process connection supports post 1c bulb, be trailing type steady arm 3 top centre of sphere volume coordinate a q, be specially:
Four target ball I 1d sphere centre coordinates on four pilot hole 1b of steps A, positioning process joint 1 form a space rectangle, are Z with support column 1c 1Direction of principal axis, setting long limit is X 1Axle, minor face is Y 1Axle is with rectangular centre O 1Be initial point, set up process connection coordinate system O according to right hand rule 1X 1Y 1Z 1, obtain Z 1Axle unit vector direction Z 1
A) positioning process joint coordinate system O 1X 1Y 1Z 1X 1Axle and Y 1The global vector direction of axle is:
X 1 = a 3 - a 2 | | a 3 - a 2 | | , Y 1 = a 1 - a 2 | | a 1 - a 2 | |
Wherein: a 1=[x 1, y 1, z 1] T, a 2=[x 2, y 2, z 2] T, (4)
a 3=[x 3,y 3,z 3] T,a 4=[x 4,y 4,z 4] T
B) positioning process joint coordinate system O 1X 1Y 1Z 1Z 1The global vector direction is:
Z 1 = a 2 × a 3 | | a 2 × a 3 | | - - - ( 5 )
C) the space rectangle O of target ball sphere centre coordinate formation 1Coordinate be:
O 1 = a 1 + a 2 + a 3 + a 4 4 - - - ( 6 )
Step B, the centre of sphere that obtains process connection supports post bulb and the space length l of rectangular centre;
Step C, combination Z 1Axle unit vector direction Z 1, space length l and rectangular centre O 1, utilize formula (3), obtain the coordinate a of the centre of sphere under global coordinate system of process connection supports post bulb q
a q=O 1+l·Z 1 (3)
Step 3, in five measured holes on the top of measuring support arm, select a measured hole, target ball II is installed, then use the laser tracking measurement appearance to measure this target ball, obtain the centre of sphere volume coordinate a under this ball global coordinate system OXYZ o
Step 4, utilize formula (1) to measure the centre of sphere volume coordinate a of target ball on the support arm oWith steady arm top centre of sphere volume coordinate a qRelative coordinate relationship delta a o:
Δa o=a q-a o (1)
Step 5, in the aircraft component attitude adjusting process, carry out aircraft component attitude adjusting along with the trailing type steady arm moves, target ball II measures on the support arm to measuring to use the laser tracking measurement appearance, obtains the centre of sphere volume coordinate a of this target ball under the new global coordinate system Or
Step 6, according to the centre of sphere volume coordinate a of target ball II on the measurement support arm that obtains in the step 4 oWith trailing type steady arm top centre of sphere volume coordinate a qRelative coordinate relationship delta a o, utilize formula (2) to obtain the new volume coordinate a of the trailing type steady arm top centre of sphere Qr
a qr=a or+Δa o (2)。

Claims (4)

1. the survey instrument of trailing type steady arm top centre of sphere volume coordinate; Comprise laser tracking measurement appearance (5) and trailing type steady arm (3); It is characterized in that: also comprise positioning process joint (1) and measure support arm (2); Wherein, positioning process joint (1) is positioned at the top of trailing type steady arm (3), measures support arm (2) and is looped around on the trailing type steady arm (3);
Said positioning process joint (1) comprises back up pad (1a), perpendicular to the support column (1c) of back up pad (1a) bottom surface diagonal line intersection point be positioned on the diagonal line of back up pad (1a) bottom surface and to equidistant four pilot holes of support column (1c) (1b); Be respectively equipped with target ball I (1d) on said four pilot holes (1b); Said support column (1c) is positioned at the ball-and-socket on trailing type steady arm (3) top; Said measurement support arm (2) is an annular, comprises big ring support arm (2b) and little ring support arm (2a), wherein, encircles support arm (2b) greatly and is provided with armed lever (2e), and the top of this armed lever (2e) is provided with measured hole (2c), and this measured hole (2c) is provided with dismountable target ball II (2f).
2. the survey instrument of trailing type steady arm according to claim 1 top centre of sphere volume coordinate, it is characterized in that: said armed lever (2e) is a rectangular parallelepiped, and the number of the measured hole on its top (2c) is 5.
3. the survey instrument of trailing type steady arm according to claim 1 and 2 top centre of sphere volume coordinate is characterized in that: the quantity of the target ball II (2f) on the said measured hole (2c) is 1.
4. the survey instrument of trailing type steady arm according to claim 1 top centre of sphere volume coordinate; It is characterized in that: said big ring support arm (2b) is fastening through grip nut (2d) respectively with the arch ring both sides of little ring support arm (2a), and said measurement support arm (2) is fixed on the trailing type steady arm (3).
CN2011202820721U 2011-08-05 2011-08-05 Measuring tool of top sphere center spatial coordinate of follow-up locater Withdrawn - After Issue CN202171443U (en)

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102313516A (en) * 2011-08-05 2012-01-11 南京航空航天大学 Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof
CN102582847A (en) * 2012-03-22 2012-07-18 沈阳飞机工业(集团)有限公司 Ball-hinged coupling mechanism of locator based on three-dimensional force sensor
CN109253694A (en) * 2018-11-18 2019-01-22 大连四达高技术发展有限公司 Strut spatial coordinate of spherical center measurement structure and measurement method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102313516A (en) * 2011-08-05 2012-01-11 南京航空航天大学 Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof
CN102313516B (en) * 2011-08-05 2013-08-21 南京航空航天大学 Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof
CN102582847A (en) * 2012-03-22 2012-07-18 沈阳飞机工业(集团)有限公司 Ball-hinged coupling mechanism of locator based on three-dimensional force sensor
CN102582847B (en) * 2012-03-22 2014-12-24 沈阳飞机工业(集团)有限公司 Ball-hinged coupling mechanism of locator based on three-dimensional force sensor
CN109253694A (en) * 2018-11-18 2019-01-22 大连四达高技术发展有限公司 Strut spatial coordinate of spherical center measurement structure and measurement method

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Granted publication date: 20120321

Effective date of abandoning: 20130821