WO2022160559A1 - 一种飞机机翼智能对准系统与方法 - Google Patents

一种飞机机翼智能对准系统与方法 Download PDF

Info

Publication number
WO2022160559A1
WO2022160559A1 PCT/CN2021/099743 CN2021099743W WO2022160559A1 WO 2022160559 A1 WO2022160559 A1 WO 2022160559A1 CN 2021099743 W CN2021099743 W CN 2021099743W WO 2022160559 A1 WO2022160559 A1 WO 2022160559A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
wing
laser
adjustment
aircraft
Prior art date
Application number
PCT/CN2021/099743
Other languages
English (en)
French (fr)
Inventor
王邯
曹轩
罗建
徐文霞
张敏
于宝成
艾玉明
王春梅
吴静
张丽娜
郭然
郭凯
Original Assignee
武汉工程大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉工程大学 filed Critical 武汉工程大学
Publication of WO2022160559A1 publication Critical patent/WO2022160559A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/02—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby of table type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only

Definitions

  • the invention belongs to the technical field of aircraft wing alignment, and in particular relates to an aircraft wing intelligent alignment system and method.
  • the wing is one of the important parts of the aircraft. It is installed on the fuselage. Its main function is to generate lift and form a good stability and maneuverability together with the tail.
  • the wing of the aircraft is huge and requires high assembly quality.
  • the technical problem to be solved by the present invention is to provide an aircraft wing intelligent alignment system and method for the above-mentioned problems, which can realize automatic alignment and improve the alignment accuracy of the wing.
  • an aircraft wing intelligent alignment system which is characterized in that it includes a supporting platform, a platform positioning device, a platform propulsion device, a laser adjusting device and a controller, the supporting platform A support rod is arranged on the platform at intervals to support the wing and the wing installation shaft;
  • the platform adjustment device includes an adjustment base, an adjustment platform and a six-axis position and attitude adjustment mechanism, and the six-axis position and attitude adjustment mechanism is installed in the Between the adjustment base and the adjustment platform;
  • the platform propulsion device includes a propulsion slide rail, a propulsion slide block and a stepping motor, the propulsion slide rail is installed on the top surface of the adjustment platform, and the propulsion slide block and the stepper motor are installed.
  • the feeding motor is installed on the bottom surface of the supporting platform, and the stepping motor drives the propulsion slider to translate along the propulsion slide rail;
  • the laser adjustment device includes an alignment mechanism and an alignment mechanism, and the alignment mechanism includes a laser transmitter and a psd position sensor and the laser fixing plate,
  • the self-aligning mechanism includes a double self-aligning bearing and a laser ranging sensor, the double self-aligning bearing is installed on the aircraft fuselage, and the psd position sensor is four symmetrically arranged on the double self-aligning bearing.
  • the laser fixing plate On the surrounding aircraft shell, there are four laser transmitters, which are symmetrically arranged on the laser fixing plate, corresponding to the psd position sensor, the laser fixing plate is installed on the support platform, and the wing installation shaft passes through Central through hole, the laser ranging sensor is installed under the double self-aligning bearing; the input end of the controller is connected to the laser ranging sensor and the psd position sensor through a cable, and the output end is connected to a stepping motor through a cable It is connected with the six-axis pose adjustment mechanism.
  • the six-axis posture adjustment mechanism includes six electric pulse servo oil cylinders arranged obliquely, the bottom of which is fixed on the top surface of the adjustment base, and the end of the piston rod and the bottom surface of the adjustment platform.
  • the double self-aligning bearing includes an inner self-aligning bearing and an outer self-aligning bearing, which are installed at intervals along the axial direction, and three laser ranging sensors are respectively installed under the inner self-aligning bearing and the outer self-aligning bearing.
  • a kind of aircraft wing intelligent alignment method is characterized in that, comprises the following steps:
  • the psd position sensor detects the measured spot coordinate position of the laser emitted by the laser transmitter on the sensor, and compares it with the coordinate position of the reference spot to obtain the deviation of the laser spot in the X-Y direction. According to the offset, the controller adjusts the angle of the support platform by using the six-axis pose adjustment mechanism, so that the measured photoelectric coordinate position coincides with the coordinate position of the reference light spot;
  • the support platform drives the wing forward, and the front end reaches the double self-aligning bearing.
  • the laser ranging sensor measures the three-point position of the wing circumference. Through the measurement results, the real-time wing axis can be measured The distance from the shaft center of the double self-aligning bearing is calculated, and the concentricity error is calculated and fed back to the motion controller.
  • the attitude adjustment mechanism propels the wing, and under the control of the controller, the Euler angle ⁇ ⁇ ⁇ T of the platform pose is obtained, the first and second derivations are performed on the time, and then the angular acceleration of the platform is obtained. and angular velocity, which is calculated as follows:
  • the data fed back by the six-axis attitude adjustment mechanism compensates the concentricity error to ensure the concentricity of the wing and the double self-aligning bearing until the six-axis attitude adjustment mechanism accurately installs the wing on the aircraft fuselage.
  • the specific calculation formula for measuring the coordinate position of the light spot described in step S2 is as follows:
  • X and Y are the positions of the light spots in the PSD coordinate system
  • i 1 , i 2 , i 3 , and i 4 are the current values output by the four electrodes
  • L represents the length of the photosensitive surface
  • the beneficial effects of the present invention are as follows: to provide an aircraft wing intelligent alignment system and method, which can realize real-time measurement and feedback through the platform positioning device, the platform propulsion device, the laser adjustment device and the controller, so as to realize the wing intelligent alignment system Through the coordination of various devices, the automatic installation and intelligent assembly of the wings are realized, which reduces the labor intensity and improves the assembly efficiency.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention.
  • FIG. 2 is a front view of an embodiment of the present invention.
  • the present invention provides an aircraft wing intelligent alignment system and method, including a support platform 1, a platform positioning device, a platform propulsion device, a laser adjustment device and a controller, and the support platform is provided with supports at intervals
  • the rod 2 is used to support the wing 3 and the wing installation shaft 4;
  • the platform adjustment device includes an adjustment base 5, an adjustment platform 6 and a six-axis attitude adjustment mechanism, and the six-axis attitude adjustment mechanism is installed on the adjustment base and the adjustment platform.
  • the platform propulsion device includes a propulsion slide rail 7, a propulsion slide block 8 and a stepping motor
  • the propulsion slide rail is installed on the top surface of the adjustment platform
  • the advancing slide block and the stepping motor are installed on the bottom surface of the supporting platform
  • the stepping motor is installed on the bottom surface of the supporting platform.
  • the laser adjustment device includes an alignment mechanism and an alignment mechanism
  • the alignment mechanism includes a laser transmitter 9, a psd position sensor 10 and a laser fixing plate 11
  • the alignment mechanism includes double alignment bearings and Laser ranging sensor
  • double self-aligning bearings are installed on the aircraft fuselage
  • four psd position sensors are symmetrically arranged on the aircraft shell 12 around the double self-aligning bearings
  • four laser transmitters are symmetrically arranged on the laser fixing plate
  • the laser fixing plate is installed on the support platform
  • the wing installation shaft passes through the central through hole
  • the laser ranging sensor is installed under the double self-aligning bearing
  • the input end of the controller is connected with the cable through the cable.
  • the laser ranging sensor is connected with the psd position sensor, and the output end is connected with the stepping motor and the six-axis posture adjustment mechanism through a cable.
  • the six-axis posture adjustment mechanism includes six electric pulse servo oil cylinders 13 arranged obliquely, the bottom of which is fixed on the top surface of the adjustment base, and the end of the piston rod and the bottom surface of the adjustment platform.
  • the electric pulse servo cylinder is composed of a stepping motor, a three-position four-way servo valve, a mechanical feedback device (screw pair) and an oil screw.
  • the stepping motor receives a pulse signal
  • its output shaft rotates at a certain angle
  • the servo valve spool drives the screw to rotate at the same time
  • the spool moves and opens the reversing cylinder to output pressure oil
  • the piston moves and drives the screw to rotate in the opposite direction to make the spool rotate.
  • the servo valve returns to the neutral position to stop the output of pressure oil.
  • the oil cylinder moves for a certain stroke, and the displacement and speed of the oil cylinder travel are determined according to the given value of the electric pulse.
  • the double self-aligning bearing includes an inner self-aligning bearing and an outer self-aligning bearing, which are installed at intervals along the axial direction.
  • Three laser ranging sensors are respectively installed under the inner self-aligning bearing and the outer self-aligning bearing.
  • the psd position sensor is an optoelectronic device that is sensitive to incident light or particle position based on the lateral photoelectric effect of non-uniform semiconductors.
  • PSD is a continuous analog device, which overcomes the defect that the resolution of the array device is limited by the pixel size. The overall analog output works without scanning, but cannot detect multiple spots.
  • the PSD technology is based on a photodetector device based on the lateral photoelectric effect Lucovusky equation. It measures the asymmetry and irregularity of the light spot by detecting the position of the center of gravity of the light intensity, which has little effect on the real-time detection accuracy of the PSD. It is only related to its center of gravity, and PSD is very suitable for non-contact high-precision fast measurement of position, displacement, distance, angle and other physical quantities that can indirectly convert the position or displacement of the spot.
  • a method for an aircraft wing intelligent alignment system comprising the following steps:
  • S1 First, calibrate the central axis of the double self-aligning bearing on the aircraft shell, and mount four psd position measurement sensors on the surface of the aircraft. The specific installation position can be adjusted according to the actual situation of the aircraft. Location;
  • X and Y are the positions of the light spots in the PSD coordinate system
  • i 1 , i 2 , i 3 , and i 4 are the current values output by the four electrodes
  • L represents the length of the photosensitive surface
  • the six-axis adjustment platform compensates the error according to the feedback data to ensure the concentricity of the wing and the double self-aligning bearing, until the six-axis adjusting platform accurately installs the wing on the aircraft fuselage.
  • the double self-aligning bearing mechanism system uses During the wing installation process, the two double self-aligning bearings adjust the angle of the self-aligning bearings, so that the axes of the double self-aligning bearings can be aligned with the PSD laser alignment calibration to achieve the double calibration of the axes. Adjust the initial installation position of the system and the initial position of the wing according to the displacement to ensure that the axis of the system and the axis of the double self-aligning bearing are consistent.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

一种飞机机翼智能对准系统，包括支承平台（1）、平台调位装置、平台推进装置、激光调节装置和控制器，支承平台（1）用以支承机翼（3）及机翼安装轴（4）；平台调位装置通过六轴位姿调节机构调节支承平台角度；平台推进装置推进支承平台（1）带动机翼平移；激光调节装置包括对正机构和调心机构，控制器控制调整机翼与双调心轴承的同心对正。通过各个系统的协调实现结构的自动安装和飞机机翼的智能装配。以及一种飞机机翼智能对准方法。

Description

一种飞机机翼智能对准系统与方法 技术领域
本发明属于飞机机翼对准的技术领域，尤其涉及一种飞机机翼智能对准系统与方法。
背景技术
机翼是飞机的重要部件之一，安装在机身上，其最主要作用是产生升力，与尾翼一起形成良好的稳定性与操纵性，飞机的机翼体型巨大，装配质量要求高。
目前针对飞机的机翼装配大多采用人工手动安装，对准精度较差，装配误差较大，人工劳动强度较高的同时装配效率较低，具有许多不足之处。
发明内容
本发明所要解决的技术问题在于针对上述存在的问题，提供一种飞机机翼智能对准系统与方法，实现自动化对准，提高机翼的对准精度。
本发明解决上述技术问题所采用的技术方案是：一种飞机机翼智能对准系统，其特征在于，包括支承平台、平台调位装置、平台推进装置、激光调节装置和控制器，所述支承平台上间隔设有支承杆，用以支承机翼及机翼安装轴；所述平台调位装置包括调节底座、调节平台和六轴位姿调节机构，所述六轴位姿调节机构安设于所述调节底座及调节平台之间；所述平台推进装置包括推进滑轨、推进滑块和步进电机，所述推进滑轨安设于所述调节平台顶面，所述推进滑块和步进电机安设于支承平台的底面，步进电机带动推进滑块沿推进滑轨平移；所述激光调节装置包括对正机构和调心机构，所述对正机构包括激光发射器、psd位置传感器和激光器固定板，所述调心机构包括双调心轴承和激光测距传感器，所述双调心轴承安设于飞机机身上，所述psd位置传感器为四个对称布设于双调心轴承四周的飞机外壳上，所述激光发射器为四个，对称布设于所述激光器固定板上，与psd位置传感器相对应，激光器固定板安设于支承平台上，所述机翼安装轴穿过中心通孔，所述激光测距传感器安设于所述双调心轴承下方；所述控制器输入端通过线缆与激光测距传感器及psd位置传感器相连，输出端通过线缆与步进电机和六轴位姿调节机构相连。
按上述方案，所述六轴位姿调节机构包括倾斜布设的六个电脉冲伺服油缸， 底部固定于所述调节底座顶面上，活塞杆端头与所述调节平台的底面上。
按上述方案，所述双调心轴承包括内调心轴承和外调心轴承，沿轴向对中间隔安装，所述内调心轴承和外调心轴承下方分别安装有三个所述激光测距传感器。
一种飞机机翼智能对准方法，其特征在于，包括如下步骤：
S1)设备安装：在飞机外壳上标定双调心轴承的中心轴，在飞机外壳上相对中心轴对称贴装四个psd位置传感器，在激光器固定板上对称安设四个激光发射器，设定四个激光发射器发射的激光在四个psd位置传感器上的参考光点坐标位置，保证机翼的对正推进；
S2)光点位置测量、调节：通过psd位置传感器检测激光发射器发射的激光在传感器上的测量光点坐标位置，通过与参考光点坐标位置对比，得出激光光点在X-Y方向上的偏移量，控制器根据偏移量利用六轴位姿调节机构调节支承平台的角度，进而使得测量光电坐标位置与参考光点坐标位置重合；
S3)同心调节：支承平台带动机翼前移，前端送达至双调心轴承处，激光测距传感器测量机翼圆周的三点位置，通过测量结果，便可测得实时的机翼轴心和双调心轴承轴心的距离，计算出同心度误差，反馈给所述运动控制器，根据标定过程中调节的机翼和双调心轴承的同轴状态反馈的数据信息，利用六轴位姿调节机构将机翼推进，在控制器的调控下得出平台位姿的欧拉角{α β γ} T，对时间进行一阶求导和二阶求导，然后求出平台的角加速度和角速度，其计算公式如下：
Figure PCTCN2021099743-appb-000001
Figure PCTCN2021099743-appb-000002
六轴位姿调节机构反馈回来的数据对同心度误差进行补偿，保证机翼和双调心轴承的同心度，直至六轴位姿调节机构将机翼准确安装到飞机机身上。
按上述方案，步骤S2中所述测量光点坐标位置的具体计算公式如下所示：
Figure PCTCN2021099743-appb-000003
其中X,Y为光斑在PSD坐标系中的位置，i 1,i 2,i 3,i 4为四个电极输出的电流值，L表示光敏面的长度。
本发明的有益效果是：提供供一种飞机机翼智能对准系统与方法，通过平台调位装置、平台推进装置、激光调节装置和控制器进行实时测量及反馈，实现机翼智能对准系统的工作，通过各个装置的协调实现机翼的自动安装和智能装配，降低人工劳动强度的同时提高了装配效率。
附图说明
图1为本发明一个实施例的结构示意图。
[根据细则91更正 09.08.2021]　
图2为本发明一个实施例的正视图。
具体实施方式
为更好地理解本发明，下面结合附图和实施例对本发明作进一步的描述。
如图1所示，本发明提供了一种飞机机翼智能对准系统与方法，包括支承平台1、平台调位装置、平台推进装置、激光调节装置和控制器，支承平台上间隔设有支承杆2，用以支承机翼3及机翼安装轴4；平台调位装置包括调节底座5、调节平台6和六轴位姿调节机构，六轴位姿调节机构安设于调节底座及调节平台之间；平台推进装置包括推进滑轨7、推进滑块8和步进电机，推进滑轨安设于调节平台顶面，推进滑块和步进电机安设于支承平台的底面，步进电机带动推进滑块沿推进滑轨平移；激光调节装置包括对正机构和调心机构，对正机构包括激光发射器9、psd位置传感器10和激光器固定板11，调心机构包括双调心轴承和激光测距传感器，双调心轴承安设于飞机机身上，psd位置传感器为四个对称布设于双调心轴承四周的飞机外壳12上，激光发射器为四个，对称布设于激光器固定板上，与psd位置传感器相对应，激光器固定板安设于支承平台上，机翼安装轴穿过中心通孔，激光测距传感器安设于双调心轴承下方；控制器输入端通过线缆与激光测距传感器及psd位置传感器相连，输出端通过线缆与步进电机和六轴位姿调节机构相连。
六轴位姿调节机构包括倾斜布设的六个电脉冲伺服油缸13，底部固定于调节底座顶面上，活塞杆端头与调节平台的底面上。电脉冲伺服油缸由步进电机、三位四通伺服阀、机械反馈装置(丝杠副)和油杠组成。当步进电机得到一个脉 冲信号时其输出轴旋转一定角度，伺服阀阀芯带动丝扛同时旋转，阀芯移动并开口换向油缸输出压力油，活塞移动并带动丝杠反向旋转使阀芯退回原位，伺服阀复中位停止输出压力油。此时油缸移动一定行程，油缸行进的位移量和速度是根据电脉冲的给定值决定。
双调心轴承包括内调心轴承和外调心轴承，沿轴向对中间隔安装，内调心轴承和外调心轴承下方分别安装有三个激光测距传感器。
psd位置传感器是一种基于非均匀半导体横向光电效应的、对入射光或粒子位置敏感的光电器件。PSD是一种连续性的模拟器件，克服了阵列型器件分辨率受像元尺寸限制的缺陷。整体模拟输出的工作方式不需扫描，但是不能探测多个光斑。PSD技术基于横向光电效应Lucovusky方程的光电探测器件，他通过探测光强重心位置来测量光斑的不对称性、不规则性对PSD的即时探测精度几乎没有影响，测量结果与光斑尺寸外形无光、只与其重心有关，而且其中PSD非常适用于位置、位移、距离、角度以及可以间接转换光斑位置或位移的其他物理量的非接触高精度快速测量。
一种飞机机翼智能对准系统的方法，包括以下步骤：
S1：首先在飞机外壳上标定双调心轴承的中心轴，在飞机的表面贴装四个psd位置测量传感器，其具体的安装位置可以根据飞机的实际情况进行调整，安装在飞机上相对固定的位置；
S2：在机翼上安装四个激光发射器，设定四个激光发射器发射的激光在四个psd位置传感器上的参考光点坐标位置，飞机外壳上的psd位置测量传感器可以检测到激光发射器发射的激光在该传感器上的X-Y方向上的偏移量，光点坐标位置的具体计算公式如下所示：
Figure PCTCN2021099743-appb-000004
其中X,Y为光点在PSD坐标系中的位置，i 1,i 2,i 3,i 4为4个电极输出的电流值，L表示光敏面的长度；
S3：将机翼的前端送达至内调心轴承处，双调心轴承下方的激光测距传感器测量机翼圆周的三点位置。通过测量结果，便可测得实时的机翼轴心和双调心轴 承轴心的距离，计算出同心度误差，反馈给运动控制器，根据标定过程中调节的机翼和双调心轴承的同轴状态反馈的数据信息，利用六轴调节平台将机翼推进，高精度伺服电机在控制程序的调控下得出平台位姿的欧拉角对时间进行一阶求导和二阶求导，然后求出平台的角加速度和角速度，其角速度的计算公式如下：
Figure PCTCN2021099743-appb-000005
Figure PCTCN2021099743-appb-000006
六轴调节平台针对反馈回来的数据对误差进行补偿，保证机翼和双调心轴承的同心度，直至六轴调节平台将机翼准确安装到飞机机身上，双调心轴承机构系统是利用两个双调心轴承在机翼安装过程通过调节调心轴承的角度使得双调心轴承的轴线能够与PSD激光准直校准进行配合对准实现轴线的双重标定。根据该位移调整系统的初始安装位置，以及机翼的初始位置，保证系统的轴线和双调心轴承的轴线保持一致。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (5)

  1. 一种飞机机翼智能对准系统，其特征在于，包括支承平台、平台调位装置、平台推进装置、激光调节装置和控制器，所述支承平台上间隔设有支承杆，用以支承机翼及机翼安装轴；所述平台调位装置包括调节底座、调节平台和六轴位姿调节机构，所述六轴位姿调节机构安设于所述调节底座及调节平台之间；所述平台推进装置包括推进滑轨、推进滑块和步进电机，所述推进滑轨安设于所述调节平台顶面，所述推进滑块和步进电机安设于支承平台的底面，步进电机带动推进滑块沿推进滑轨平移；所述激光调节装置包括对正机构和调心机构，所述对正机构包括激光发射器、psd位置传感器和激光器固定板，所述调心机构包括双调心轴承和激光测距传感器，所述双调心轴承安设于飞机机身上，所述psd位置传感器为四个对称布设于双调心轴承四周的飞机外壳上，所述激光发射器为四个，对称布设于所述激光器固定板上，与psd位置传感器相对应，激光器固定板安设于支承平台上，所述机翼安装轴穿过中心通孔，所述激光测距传感器安设于所述双调心轴承下方；所述控制器输入端通过线缆与激光测距传感器及psd位置传感器相连，输出端通过线缆与步进电机和六轴位姿调节机构相连。
  2. 根据权利要求1所述的一种飞机机翼智能对准系统，其特征在于，所述六轴位姿调节机构包括倾斜布设的六个电脉冲伺服油缸，底部固定于所述调节底座顶面上，活塞杆端头与所述调节平台的底面上。
  3. 根据权利要求2所述的一种飞机机翼智能对准系统，其特征在于，所述双调心轴承包括内调心轴承和外调心轴承，沿轴向对中间隔安装，所述内调心轴承和外调心轴承下方分别安装有三个所述激光测距传感器。
  4. 一种飞机机翼智能对准方法，其特征在于，包括如下步骤：
    S1)设备安装：在飞机外壳上标定双调心轴承的中心轴，在飞机外壳上相对中心轴对称贴装四个psd位置传感器，在激光器固定板上对称安设四个激光发射器，设定四个激光发射器发射的激光在四个psd位置传感器上的参考光点坐标位置，保证机翼的对正推进；
    S2)光点位置测量、调节：通过psd位置传感器检测激光发射器发射的激光在传感器上的测量光点坐标位置，通过与参考光点坐标位置对比，得出激光光点在X-Y方向上的偏移量，控制器根据偏移量利用六轴位姿调节机构调节支承平台 的角度，进而使得测量光电坐标位置与参考光点坐标位置重合；
    S3)同心调节：支承平台带动机翼前移，前端送达至双调心轴承处，激光测距传感器测量机翼圆周的三点位置，通过测量结果，便可测得实时的机翼轴心和双调心轴承轴心的距离，计算出同心度误差，反馈给所述运动控制器，根据标定过程中调节的机翼和双调心轴承的同轴状态反馈的数据信息，利用六轴位姿调节机构将机翼推进，在控制器的调控下得出平台位姿的欧拉角{α β γ} T，对时间进行一阶求导和二阶求导，然后求出平台的角加速度和角速度，其计算公式如下：
    Figure PCTCN2021099743-appb-100001
    Figure PCTCN2021099743-appb-100002
    六轴位姿调节机构反馈回来的数据对同心度误差进行补偿，保证机翼和双调心轴承的同心度，直至六轴位姿调节机构将机翼准确安装到飞机机身上。
  5. 根据权利要求4所述的一种飞机机翼智能对准方法，其特征在于，步骤S2中所述测量光点坐标位置的具体计算公式如下所示：
    Figure PCTCN2021099743-appb-100003
    其中X,Y为光点在PSD坐标系中的位置，i 1,i 2,i 3,i 4为四个电极输出的电流值，L表示光敏面的长度。
PCT/CN2021/099743 2021-01-26 2021-06-11 一种飞机机翼智能对准系统与方法 WO2022160559A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110101874.6 2021-01-26
CN202110101874.6A CN112894729A (zh) 2021-01-26 2021-01-26 一种飞机机翼智能对准系统与方法

Publications (1)

Publication Number Publication Date
WO2022160559A1 true WO2022160559A1 (zh) 2022-08-04

Family

ID=76119593

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/099743 WO2022160559A1 (zh) 2021-01-26 2021-06-11 一种飞机机翼智能对准系统与方法

Country Status (2)

Country Link
CN (1) CN112894729A (zh)
WO (1) WO2022160559A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115489752A (zh) * 2022-09-09 2022-12-20 航天材料及工艺研究所 一种用于舱段与组件的对接系统
CN115638806A (zh) * 2022-09-23 2023-01-24 陕西飞机工业有限责任公司 一种飞机惯导系统水平校准装置及校准方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112894729A (zh) * 2021-01-26 2021-06-04 武汉工程大学 一种飞机机翼智能对准系统与方法
CN117262283B (zh) * 2023-11-22 2024-01-26 常州丰飞智控科技有限公司 一种喷气式飞行器发射系统测量装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101537886A (zh) * 2009-03-13 2009-09-23 成都飞机工业（集团）有限责任公司 基于三个三坐标定位器的机翼部件安全(稳定)调姿方法
CN101907893A (zh) * 2010-07-02 2010-12-08 北京航空航天大学 基于六自由度并联机构飞机部件调姿装配系统及调试方法
CN102092478A (zh) * 2010-12-30 2011-06-15 中国商用飞机有限责任公司 用于翼身对接的定位装置
US20170239706A1 (en) * 2010-01-21 2017-08-24 The Boeing Company High rate pulsing wing assembly line
CN108001708A (zh) * 2017-12-20 2018-05-08 西北工业大学 一种飞机机翼对接调姿可重构装置
EP3736218A1 (en) * 2019-05-10 2020-11-11 Airbus Process of joining a wing to an aircraft fuselage
CN112894729A (zh) * 2021-01-26 2021-06-04 武汉工程大学 一种飞机机翼智能对准系统与方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101537886A (zh) * 2009-03-13 2009-09-23 成都飞机工业（集团）有限责任公司 基于三个三坐标定位器的机翼部件安全(稳定)调姿方法
US20170239706A1 (en) * 2010-01-21 2017-08-24 The Boeing Company High rate pulsing wing assembly line
CN101907893A (zh) * 2010-07-02 2010-12-08 北京航空航天大学 基于六自由度并联机构飞机部件调姿装配系统及调试方法
CN102092478A (zh) * 2010-12-30 2011-06-15 中国商用飞机有限责任公司 用于翼身对接的定位装置
CN108001708A (zh) * 2017-12-20 2018-05-08 西北工业大学 一种飞机机翼对接调姿可重构装置
EP3736218A1 (en) * 2019-05-10 2020-11-11 Airbus Process of joining a wing to an aircraft fuselage
CN112894729A (zh) * 2021-01-26 2021-06-04 武汉工程大学 一种飞机机翼智能对准系统与方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115489752A (zh) * 2022-09-09 2022-12-20 航天材料及工艺研究所 一种用于舱段与组件的对接系统
CN115638806A (zh) * 2022-09-23 2023-01-24 陕西飞机工业有限责任公司 一种飞机惯导系统水平校准装置及校准方法
CN115638806B (zh) * 2022-09-23 2024-04-09 陕西飞机工业有限责任公司 一种飞机惯导系统水平校准装置及校准方法

Also Published As

Publication number Publication date
CN112894729A (zh) 2021-06-04

Similar Documents

Publication Publication Date Title
WO2022160559A1 (zh) 一种飞机机翼智能对准系统与方法
CN109357631B (zh) 一种基于激光位移传感器的测量系统中心标定方法
WO2020233273A1 (zh) 一种高精度自动焊接机器人及其焊接方法
CN109720609B (zh) 一种悬吊式微重力模拟装置及控制方法
CN109176517B (zh) 基于末端名义点约束的串联工业机器人连杆参数标定方法
CN113375559B (zh) 基于多源传感的在线测量定心装置、系统及方法
CN109269775B (zh) 基于光轴一致性测量的无限逼近自动校正方法及系统
CN112197756B (zh) 一种基于机械臂视觉感知的掘进机位姿检测系统及方法
CN107764844B (zh) 大型ct检测设备的位置调整系统及其调整方法
CN107487500B (zh) 一种通用纸箱贴标自适应自调整系统及方法
CN111238558B (zh) 一种psd非线性误差的标校装置及方法
CN108195568B (zh) 前照灯光照度检测装置对中自检及校准方法
CN113189568A (zh) 一种激光雷达标定的装置和方法
CN111409071A (zh) 一种适用于机器人自动钻铆系统的法向找正方法
CN114562941A (zh) 一种相对广域机器视觉图像精确测量系统及其测量方法
CN116182818B (zh) 一种航空发动机吊装的空间位姿测量方法及系统
CN109751987A (zh) 一种用于机械执行机构的视觉激光定位装置及定位方法
CN111288933B (zh) 一种球面或旋转对称非球面光学元件自动定心方法
CN111006706B (zh) 一种基于线激光视觉传感器的旋转轴标定方法
CN108709509B (zh) 轮廓照相机、配套的超大直径回转体工件非接触式测径仪以及非接触式回转体测量方法
CN210513015U (zh) 用于adas标定的3d测量装置
CN116862995A (zh) 一种用于大间距、无公共视场的相机外参标定装置及方法
CN117262049A (zh) 一种自动转站测量装置及使用该装置进行船舶总段对接的测量方法
CN113029124B (zh) 一种基于红外视觉引导和激光测距的三维姿态位置测量装置
CN112222644B (zh) 一种具有预导正装置的激光切割机导正系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21922157

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21922157

Country of ref document: EP

Kind code of ref document: A1