CN104476321A - Skin real-time adaptive mirror image milling method based on multiple sensors and detection device - Google Patents
Skin real-time adaptive mirror image milling method based on multiple sensors and detection device Download PDFInfo
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- CN104476321A CN104476321A CN201410638017.XA CN201410638017A CN104476321A CN 104476321 A CN104476321 A CN 104476321A CN 201410638017 A CN201410638017 A CN 201410638017A CN 104476321 A CN104476321 A CN 104476321A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/16—Working surfaces curved in two directions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
- B23Q15/06—Control or regulation of feed movement according to measuring results produced by two or more gauging methods using different measuring principles, e.g. by both optical and mechanical gauging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
- B23Q17/2471—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces of workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2215/00—Details of workpieces
- B23C2215/04—Aircraft components
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The invention provides a skin real-time adaptive mirror image milling method based on multiple sensors and a detection device. The skin real-time adaptive mirror image milling method based on multiple sensors is characterized in that laser distance sensors are utilized to measure the distance in real time to obtain the actual size of a skin part, and a pressure sensor is utilized for measurement to accurately obtain the dimensional error of the actual curved surface and the theoretical curved surface of the skin, and therefore, the real-time adaptive adjustment of a tool path is realized according to the actual curved surface during machining; according to the detection device, double laser distance sensors are adopted and mounted on a skin mirror image milling push head and a propping head, respectively; the pressure sensor is located inside the propping head; each laser distance sensor device comprises a base, a sensor clamping device, the sensor and the like. The kin real-time adaptive mirror image milling method based on multiple sensors is capable of adjusting the tool path according to the actual sizes of the parts, and therefore, the machining quality of the skins is guaranteed, the machining efficiency is improved and the cost is saved.
Description
Technical field
The present invention relates to a kind of machining process and device, especially for real-time adaptive method for milling and the device of aircraft skin mirror image numerical control milling system, specifically a kind of covering real-time adaptive mirror image method for milling based on multisensor and device.
Background technology
Aircraft skin mirror image milling technology is a kind of novel processing method for covering class part, and it has collection trimming, milling breach, drilling and thickness and is machined in one, and milling cutter mirror movements followed by bracing or strutting arrangement, ultrasonic thickness measurement, controls the features such as thickness of cutting in real time.The milling of covering mirror image avoid the frock cost of traditional covering processing high, cut the problems such as the low and working (machining) efficiency of easy flutter, surface quality is low.
But it is large and shut down phenomenon to there is thickness measuring error in the real-time thickness measuring method of at present covering mirror image milling and device; be unfavorable for the lifting of covering working (machining) efficiency; simultaneously owing to using ultrasonic thickness measurement to require high to the cutter rail of processing; and then covering NC Programming difficulty is strengthened; and its device can cause scuffing to skin-surface, the surface quality of covering cannot be ensured.
Therefore the present invention proposes a kind of covering real-time adaptive mirror image method for milling based on multisensor and device, be mainly used in covering mirror image milling system, laser distance sensor real time distance is utilized to obtain skin part actual size, and the scale error accurately obtaining the actual curved surface of covering and theoretical curved surface is measured in conjunction with pressure sensor, realize the cutter rail real-time adaptive adjustment according to the actual curved surface of part in processing, this device adopts double excitation range sensor, be installed on the milling of covering mirror image respectively cut somebody's hair and shore on head, pressure sensor is positioned at shores head inside, wherein laser distance sensor device comprises pedestal, sensor holder, sensor.Sensor is high-precision laser range sensor.The method in real time according to the actual size adjustment cutter rail of part, can ensure the crudy of covering, improves working (machining) efficiency, cost-saving.
Summary of the invention
The object of the invention is for measuring inaccurate in real time to accessory size in current covering mirror image milling system, affect the problem that machining accuracy improves, invent a kind of contactless covering real-time adaptive mirror image method for milling based on multisensor, a kind of corresponding contactless detection device is provided simultaneously.：
One of technical scheme of the present invention is:
Based on a covering real-time adaptive mirror image method for milling for multisensor, it is characterized in that it comprises following steps:
First, two groups of laser distance sensors are arranged on covering mirror image milling system front cut somebody's hair and reverse side shore, be distributed in part both sides, pressure sensor is arranged on reverse side and shores inside, add man-hour front to cut somebody's hair and push down part, cutter stretches out from the center of cutting somebody's hair, front and carries out Milling Process, and reverse side is shored and withstood the part working position back side, and keeps mirror image servo-actuated;
Secondly, for the laser sensor being arranged on reverse side and shoring, by regulating the position of sensor, its work in-process is measured in real time shore with feature contacts position around part position, and by the calculating to measurement point set position, obtain the actual curved surface of part around current Working position in setting range, adjust according to the cutter rail of actual curved surface to next Working position, ensure that the machining locus of next Working position is processed according to actual curved surface;
3rd, pressure sensor is arranged on reverse side and shores inside, its force value comes from the active force that part is shored reverse side, in reality processing, tentatively according to actual curved surface adjustment machining locus, but still can not accomplish accurate adjustment by reverse side laser ranging, by the measurement of pressure sensor, accurately can obtain the physical location of current Working position and the deviation of theoretical position, thus machining locus is finely tuned accurately, realize accurately according to the self adaptation Milling Process of the actual curved surface of skin part;
4th, be installed on front cut somebody's hair on laser distance sensor can by measuring the covering position of machining area, and contrast with its theoretical position, adjustment milling spindle and reverse side shore between relative position, eliminate the impact that the scale error in mechanical system is processed covering, ensure that milling spindle work in-process and reverse side shore the relative position between head;
Finally, can when there is error in aircraft skin actual size and theoretical size by above step, according to actual size real-time carry out the adjustment of cutter rail, realize the real-time adaptive Milling Process of skin part, ensure the crudy of part.
Described method of shoring laser distance sensor measured value adjustment machining locus by reverse side is, by the position regulating reverse side to shore end laser distance sensor, determine beam direction, i.e. direction of measurement, make it aim to shore with feature contacts position around, in reality processing, pass through measuring distance, the position of direction of measurement and laser sensor, calculate the coordinate of measurement point, under the sample frequency of setting, obtain reverse side and shore the data of holding a series of measurement point, the actual curved surface of measured zone is simulated according to these intensive measurement points, actual curved surface and theoretical curved surface are contrasted, calculate the cutter rail deviation of next Working position, and carry out the adjustment of cutter rail.
Described by anyway shoring the method for inner pressure sensor measurements accurate adjustment machining locus is, in reality processing, shore laser ranging according to reverse side and carry out adjustment cutter rail, it is very accurate that precision due to its fitting surface causes the adjustment of its cutter rail to accomplish, now, anyway shore and move according to the adjustment result of laser ranging, anyway inner pressure sensor numerical value accurately can reflect current Working position and the deviation of shoring between position after preliminary adjustment is shored, to be deviated value by the change calculations of force value, and compensate in real time, ensure that the cutter rail of Working position carries out milling according to actual parts position.
Described front laser distance sensor of cutting somebody's hair adjusts milling spindle and the position relationship shored between main shaft refer to because mirror image milling system lathe milling spindle in process is associated by each level structure with shoring between head to the verification of machining area, but the error accumulation of each level structure gets up to make milling spindle and the distance of shoring between head is not inconsistent with the distance arranged in theory, now calculate reality Working position and the theory deviation between Working position by end laser ranging value of cutting somebody's hair, thus reflect milling spindle and shore the direct deviation of head, and then adjust milling spindle and shore the distance between head, ensure the crudy of skin part.
Two of technical scheme of the present invention is:
Based on a covering real-time adaptive mirror image milling checkout gear for multisensor, it is characterized in that it comprises:
One laser distance sensor device A, obtains the actual size of skin part for measuring distance, this device is installed on cut somebody's hair Q and reverse side of covering mirror image milling front respectively and shores on W, and adopt alignment pin location, be threaded locking;
One pressure sensor apparatus B, for accurately being reflected the actual size of covering Working position by measured value, this device is threaded connection and is fixedly installed in reverse side and shores W inside.
Described laser distance sensor device A comprises pedestal 1, sensor holder 2 and sensor 3, and wherein pedestal 1 is shored W located by cut somebody's hair Q or reverse side of alignment pin and corresponding front, and is threaded connection and locks; Sensor holder 2 is installed in the groove on pedestal 1 periphery by screw, and sensor 3 is high-precision laser range sensor, is positioned by sensor holder 2 and is installed.
Described sensor holder 2 comprise U-shaped grip slipper 2a and symmetrical be arranged on its both sides threaded mandrel 2b, adjusting handle 2c, handwheel fixed strip 2d, threaded mandrel locking nut 2e and handwheel fixed strip screw 2f, U-shaped grip slipper 2a is connected with pedestal 1 by the bolt 2g of bottom; Sensor 3 clamping and positioning is between two threaded mandrel 2b, the position of two threaded mandrel 2b is carried out telescopic adjustment by rotation hand wheel 2c and is realized final location by handwheel fixed strip 2d, threaded mandrel locking nut 2e and handwheel fixed strip screw 2f, thus realizes the position adjustments of sensor and change fast.
When sensor installation 3, need to demarcate two sensors 3 position, should ensure that the position often organizing sensor 3 is correct, also need to ensure that the direction of measurement of each sensor 3 is correct simultaneously, change hands wheel 2c by choosing can regulate the position of sensor 3 and realize clamping function, after adjustment terminates, utilize Ejector pin lock jack panel 2e, fix each sensor 3.
Described sensor 3 is high-precision laser distance measurement sensor, sample frequency is 40Hz-500Hz, the corresponding sampling time is 0.025-0.002 second, measuring distance is 25-400mm, precision 0.005-0.08mm, spot size is 0.1*0.1-1.8*3.5mm, and wavelength is between 655-680nm, little to human eye injury, and the anti-vibration of signal stabilization structure and impact.
The invention has the beneficial effects as follows:
The present invention in conjunction with pressure sensor, obtains skin part accurate dimension information by the range finding of skin part bilateral laser distance sensor, and real-time adaptive adjustment machining locus, mainly contain following beneficial effect:
1, by measuring the actual size self-adaptative adjustment machining locus of covering in real time, part crudy is ensured;
2, ultrasonic thickness measurement in traditional adaptive machining is avoided to the specific demand of numerical control machining knife rail, to improve programming efficiency;
3, effectively improve thickness measuring error that traditional thickness measuring brings and shut down phenomenon, improving covering mirror image Milling Process precision and working (machining) efficiency;
4, non-contact measurement is adopted, to piece surface not damaged;
5, device structure is simple, easy installation and maintenance.
Accompanying drawing explanation
Fig. 1 is the covering real-time adaptive mirror image method for milling based on multisensor of the present invention and device schematic diagram, and wherein Q is arranged on the front that machine tool chief axis puts to cut somebody's hair, A
1for cutting somebody's hair laser ranging system in front, A
2for reverse side shores laser ranging system, W is that reverse side is shored, and S is aircraft skin part, L
1for cutting somebody's hair distance measuring laser beams in front, L
2for reverse side shores laser ranging light beam, and Q with W position is relative, is mirror image distribution in part both sides;
Fig. 2 is laser distance sensor device of the present invention, and wherein 1 is pedestal, and 2 is sensor holder, and 3 is laser distance sensor;
Fig. 3 is sensor holder schematic diagram of the present invention, wherein 2a is grip slipper, 2b is threaded mandrel, 2c is adjusting handle, 2d is handwheel fixed strip, 2e is fixed strip screw, and 2f is threaded mandrel lock nut, and 2g is grip slipper mounting screw, A is for disassembling signal in its front, and B disassembles signal for its reverse side;
Fig. 4 is pressure sensor installation site of the present invention schematic diagram, and wherein 4 is pressure sensor, is positioned at and shores inside, obtains force value by skin part to the active force shoring ball;
Fig. 5 is laser distance sensor schematic diagram of the present invention, wherein P
1, P
2, P
3for the length, width and height size of sensor, 3a is sensor Laser emission position, and 3b, 3c are wireless launcher and the line interface of sensor reverse side;
Fig. 6 is that reverse side of the present invention shores laser distance sensor operating diagram, and wherein a is its work schematic overview, and b is laser ranging point schematic diagram, and DP is measurement point, and F is direction of feed, and c is for carrying out cutter rail adjustment schematic diagram, T according to distance measurement value
0for current cutter location corresponding shore position, T
1for next cutter location corresponding shore position, S is the theoretical position of skin part reverse side, and S_Real is the physical location of skin part reverse side, and Dis is T
1the deviate of position theoretical position and physical location, TP be according to theoretical model generate processing cutter rail, TP_Real be by adjustment after processing cutter rail;
Fig. 7 of the present inventionly shores internal pressure sensor operating diagram, wherein S is the theoretical model position of part, S_Real is the physical location of part, solid black arrow is illustrated as shores adjustment direction, the situation that a corresponding pressure value rises, need to shore adjustment of retracting, the situation that b corresponding pressure value reduces, need to shore to stretch out adjustment;
Fig. 8 is laser range sensor operating diagram of cutting somebody's hair of the present invention, DP is the laser ranging point of Working position machining locus, TP_Adjust is the cutter rail after shoring range finding adjustment and pressure sensor adjustment, TP_Real is actual machining locus, the location point on the TP_Adjust that DP ' is DP point correspondence.
Detailed description of the invention
Here is further described technical scheme of the present invention in conjunction with the accompanying drawings and embodiments.
Embodiment one.
As shown in figures 1-8.
Based on a covering real-time adaptive mirror image method for milling for multisensor, it comprises following steps:
First, two groups of laser distance sensors A1, A2 being arranged on cut somebody's hair Q and reverse side of covering mirror image milling system front shores on W, be distributed in part both sides, as Fig. 1, pressure sensor 4 is arranged on reverse side and shores W inside (Fig. 4), and add man-hour front and cut somebody's hair and push down part, cutter stretches out from the center of cutting somebody's hair, front and carries out Milling Process, reverse side is shored and is withstood the part working position back side, and keeps mirror image servo-actuated;
Secondly, for the laser sensor being arranged on reverse side and shoring, by regulating the position of sensor, its work in-process is measured in real time shore the part position around ball (spheroid supported with covering S-phase in Fig. 7) and feature contacts position, and by the calculating to measurement point set position, obtain the actual curved surface of part around current Working position in setting range, adjust according to the cutter rail of actual curved surface to next Working position, ensure that the machining locus of next Working position is processed according to actual curved surface, the method of being shored laser distance sensor measured value adjustment machining locus by reverse side is, by the position regulating reverse side to shore end laser distance sensor, determine beam direction, i.e. direction of measurement, make it aim at and shore around ball and feature contacts position, in reality processing, pass through measuring distance, the position of direction of measurement and laser sensor, calculate the coordinate of measurement point, under the sample frequency of setting, obtain reverse side and shore the data of holding a series of measurement point, the actual curved surface of measured zone is simulated according to these intensive measurement points, actual curved surface and theoretical curved surface are contrasted, calculate the cutter rail deviation of next Working position, and carry out the adjustment of cutter rail.
3rd, pressure sensor is arranged on reverse side and shores inside (Fig. 4), its force value comes from the active force that part is shored reverse side, in reality processing, can tentatively according to actual curved surface adjustment machining locus by reverse side laser ranging, but still can not accurate adjustment be accomplished, by the measurement of pressure sensor, accurately can obtain the physical location of current Working position and the deviation of theoretical position, thus machining locus is finely tuned accurately, realize accurately according to the self adaptation Milling Process of the actual curved surface of skin part, the method of being shored inner pressure sensor measurements accurate adjustment machining locus by reverse side is, in reality processing, shore laser ranging according to reverse side and carry out adjustment cutter rail, it is very accurate that precision due to its fitting surface causes the adjustment of its cutter rail to accomplish, now, anyway shore and move according to the adjustment result of laser ranging, anyway inner pressure sensor numerical value accurately can reflect current Working position and the deviation of shoring between position after preliminary adjustment is shored, to be deviated value by the change calculations of force value, and compensate in real time, ensure that the cutter rail of Working position carries out milling according to actual parts position,
4th, be installed on front cut somebody's hair on laser distance sensor can by measuring the covering position of machining area, and contrast with its theoretical position, adjustment milling spindle and reverse side shore between relative position, eliminate the impact that the scale error in mechanical system is processed covering, ensure that milling spindle work in-process and reverse side shore the relative position between head, front laser distance sensor of cutting somebody's hair adjusts milling spindle and the position relationship shored between main shaft refer to because mirror image milling system lathe milling spindle in process is associated by each level structure with shoring between head to the verification of machining area, but the error accumulation of each level structure gets up to make milling spindle and the distance of shoring between head is not inconsistent with the distance arranged in theory, now calculate reality Working position and the theory deviation between Working position by end laser ranging value of cutting somebody's hair, thus reflect milling spindle and shore the direct deviation of head, and then adjust milling spindle and shore the distance between head, ensure the crudy of skin part.
Finally, can when there is error in aircraft skin actual size and theoretical size by above step, according to actual size real-time carry out the adjustment of cutter rail, realize the real-time adaptive Milling Process of skin part, ensure the crudy of part.
Embodiment two.
As shown in figures 1-8.
A kind of covering real-time adaptive mirror image milling checkout gear based on multisensor, it comprises laser distance sensor device A and pressure sensor apparatus B, wherein laser distance sensor device A is used for the actual size that measuring distance obtains skin part, this device is installed on cut somebody's hair A1 on Q and reverse side of covering mirror image milling front respectively and shores A2 composition on W, A1 with mounting structure identical, they all adopt alignment pin to locate, and be threaded locking, as shown in Figure 1; Pressure sensor apparatus B is used for the actual size accurately being reflected covering Working position by measured value, and this device is threaded connection and is fixedly installed in reverse side and shores W inside, as shown in Figure 4.Laser distance sensor device A comprises pedestal 1, sensor holder 2 and sensor 3, and wherein pedestal 1 is shored W located by cut somebody's hair Q or reverse side of alignment pin and corresponding front, and is threaded connection and locks, as shown in Figure 2; Sensor holder 2 is installed in the groove on pedestal 1 periphery by screw, and as Fig. 3 (B), sensor 3 is high-precision laser range sensor, is positioned by sensor holder 2 and is installed.Sensor holder 2 comprise U-shaped grip slipper 2a and symmetrical be arranged on its both sides threaded mandrel 2b, adjusting handle 2c, handwheel fixed strip 2d, threaded mandrel locking nut 2e and handwheel fixed strip screw 2f, as shown in Figure 3, U-shaped grip slipper 2a is connected with pedestal 1 by the bolt 2g of bottom; Sensor 3 clamping and positioning is between two threaded mandrel 2b, the position of two threaded mandrel 2b is carried out telescopic adjustment by rotation hand wheel 2c and is realized final location by handwheel fixed strip 2d, threaded mandrel locking nut 2e and handwheel fixed strip screw 2f, thus realizes the position adjustments of sensor and change fast.When sensor installation 3, need to demarcate two sensors 3 position, should ensure that the position often organizing sensor 3 is correct, also need to ensure that the direction of measurement of each sensor 3 is correct simultaneously, change hands wheel 2c by choosing can regulate the position of sensor 3 and realize clamping function, after adjustment terminates, utilize Ejector pin lock jack panel 2e, fix each sensor 3.Sensor 3 can adopt high-precision laser distance measurement sensor, as shown in Figure 5, sample frequency is 40Hz-500Hz, the corresponding sampling time is 0.025-0.002 second, and measuring distance is 25-400mm, precision 0.005-0.08mm, spot size is 0.1*0.1-1.8*3.5mm, wavelength is between 655-680nm, little to human eye injury, and the anti-vibration of signal stabilization structure and impact.
Pressure sensor 4 is positioned at reverse side and shores inside, as shown in Figure 4, shore withstand part time, can force value be obtained, by the change of force value, accurately obtain shoring the actual error of shoring position and theoretical position of end;
During use, laser distance sensor A1, A2 being arranged on cut somebody's hair Q and reverse side of covering mirror image milling system front shores on W, be distributed in part S both sides, pressure sensor 4 is arranged on reverse side and shores W inside, add the man-hour front Q that cuts somebody's hair and push down part S, cutter stretch out from the center of cutting somebody's hair carry out Milling Process, reverse side shores W and withstands the part working position back side, forms the high rigidity in local at working position, and keep mirror image servo-actuated, as shown in Figure 1;
By regulating the position of shoring end laser distance sensor, determine beam direction, i.e. direction of measurement, make it aim at and shore around ball and feature contacts position, as shown in Figure 6, in reality processing, by the position of measuring distance and direction of measurement and laser sensor, calculate the coordinate of measurement point, selecting under suitable employing frequency, can obtain shoring the data of holding a series of measurement point, as shown in DP in Fig. 6, the actual curved surface of measured zone can be simulated according to these intensive measurement points, actual curved surface S_Real and theoretical curved surface S is contrasted, calculate the cutter rail deviation D is of next Working position, and the cutter rail TP according to theoretical surface forming is adjusted to TP_Real, this step can regard the preliminary adjustment of cutter rail as, due to the density of measurement point and the restriction of scope, work in-process real-time fitting cannot become real actual curved surface, but the adjustment work of 90% can complete by this preliminary adjustment substantially.
After preliminary adjustment, by anyway shoring inner pressure sensor measurements accurate adjustment machining locus, as shown in Figure 7, in reality processing, shoring laser ranging according to reverse side, to carry out adjusting cutter rail very accurate because the precision of its fitting surface causes the adjustment of its cutter rail to accomplish, now, shore and move according to the adjustment result of laser ranging, shore inner pressure sensor numerical value accurately can reflect current Working position and the deviation of shoring between position after preliminary adjustment, deviate can be accurately calculated by the change of force value, and compensate in real time, ensure that the cutter rail of Working position carries out milling according to actual parts position.
After the adjustment of cutter rail, front laser distance sensor of cutting somebody's hair adjusts milling spindle and shores the position between main shaft the verification of machining area again, as shown in Figure 8, because mirror image milling system is a huge kinematic system, in process, lathe milling spindle is associated by each level structure with shoring between head, but the error accumulation of each level structure gets up to make milling spindle and the distance of shoring between head not to be inconsistent in the distance arranged, now can calculate reality Working position and the theory deviation between Working position by end laser ranging value of cutting somebody's hair, thus reflect milling spindle and shore the direct deviation of head, and then adjust milling spindle and shore the distance between head, ensure the crudy of skin part.
When can there is error for aircraft skin actual size and theoretical size by above step, according to actual size real-time carry out the adjustment of cutter rail, realize the real-time adaptive Milling Process of skin part, ensure the crudy of part.
The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.
Claims (8)
1., based on a covering real-time adaptive mirror image method for milling for multisensor, it is characterized in that it comprises following steps:
First, two groups of laser distance sensors are arranged on covering mirror image milling system front cut somebody's hair and reverse side shore, be distributed in part both sides, pressure sensor is arranged on reverse side and shores inside, add man-hour front to cut somebody's hair and push down part, cutter stretches out from the center of cutting somebody's hair, front and carries out Milling Process, and reverse side is shored and withstood the part working position back side, and keeps mirror image servo-actuated;
Secondly, for the laser sensor being arranged on reverse side and shoring, by regulating the position of sensor, its work in-process is measured in real time shore with feature contacts position around part position, and by the calculating to measurement point set position, obtain the actual curved surface of part around current Working position in setting range, adjust according to the cutter rail of actual curved surface to next Working position, ensure that the machining locus of next Working position is processed according to actual curved surface;
3rd, pressure sensor is arranged on reverse side and shores inside, its force value comes from the active force that part is shored reverse side, in reality processing, tentatively according to actual curved surface adjustment machining locus, but still can not accomplish accurate adjustment by reverse side laser ranging, by the measurement of pressure sensor, accurately can obtain the physical location of current Working position and the deviation of theoretical position, thus machining locus is finely tuned accurately, realize accurately according to the self adaptation Milling Process of the actual curved surface of skin part;
4th, be installed on front cut somebody's hair on laser distance sensor can by measuring the covering position of machining area, and contrast with its theoretical position, adjustment milling spindle and reverse side shore between relative position, eliminate the impact that the scale error in mechanical system is processed covering, ensure that milling spindle work in-process and reverse side shore the relative position between head;
Finally, can when there is error in aircraft skin actual size and theoretical size by above step, according to actual size real-time carry out the adjustment of cutter rail, realize the real-time adaptive Milling Process of skin part, ensure the crudy of part.
2. method for milling as claimed in claim 1, it is characterized in that described method of shoring laser distance sensor measured value adjustment machining locus by reverse side is, by the position regulating reverse side to shore end laser distance sensor, determine beam direction, i.e. direction of measurement, make it aim to shore with feature contacts position around, in reality processing, pass through measuring distance, the position of direction of measurement and laser sensor, calculate the coordinate of measurement point, under the sample frequency of setting, obtain reverse side and shore the data of holding a series of measurement point, the actual curved surface of measured zone is simulated according to these intensive measurement points, actual curved surface and theoretical curved surface are contrasted, calculate the cutter rail deviation of next Working position, and carry out the adjustment of cutter rail.
3. method for milling as claimed in claim 1, it is characterized in that the method for the described pressure sensor measurements accurate adjustment machining locus by anyway shoring inside is, in reality processing, shore laser ranging according to reverse side and carry out adjustment cutter rail, it is very accurate that precision due to its fitting surface causes the adjustment of its cutter rail to accomplish, now, anyway shore and move according to the adjustment result of laser ranging, anyway inner pressure sensor numerical value accurately can reflect current Working position and the deviation of shoring between position after preliminary adjustment is shored, to be deviated value by the change calculations of force value, and compensate in real time, ensure that the cutter rail of Working position carries out milling according to actual parts position.
4. method for milling as claimed in claim 1, it is characterized in that described front laser distance sensor of cutting somebody's hair adjusts milling spindle and the position relationship shored between main shaft refer to because mirror image milling system lathe milling spindle in process is associated by each level structure with shoring between head to the verification of machining area, but the error accumulation of each level structure gets up to make milling spindle and the distance of shoring between head is not inconsistent with the distance arranged in theory, now calculate reality Working position and the theory deviation between Working position by end laser ranging value of cutting somebody's hair, thus reflect milling spindle and shore the deviation between head, and then adjust milling spindle and shore the distance between head, ensure the crudy of skin part.
5., based on a covering real-time adaptive mirror image milling checkout gear for multisensor, it is characterized in that it comprises:
One laser distance sensor device (A), the actual size of skin part is obtained for measuring distance, this device is installed on covering mirror image milling front respectively and cuts somebody's hair (Q) and reverse side is shored on (W), and adopt alignment pin location, be threaded locking;
One pressure sensor apparatus (B), for accurately being reflected the actual size of covering Working position by measured value, this device is threaded connection and is fixedly installed in reverse side to shore (W) inner.
6. checkout gear as claimed in claim 5, it is characterized in that described laser distance sensor device comprises pedestal (1), sensor holder (2) and sensor (3), wherein pedestal (1) to be cut somebody's hair (Q) with corresponding front by alignment pin or reverse side is shored (W) and located, and is threaded connection and locks; Sensor holder (2) is installed in the groove on pedestal (1) periphery by screw, sensor (3) is high-precision laser range sensor, is positioned by sensor holder (2) and is installed.
7. checkout gear as claimed in claim 6, it is characterized in that described sensor holder (2) comprises U-shaped grip slipper (2a) and symmetrical threaded mandrel (2b), adjusting handle (2c), handwheel fixed strip (2d), threaded mandrel locking nut (2e) and the handwheel fixed strip screw (2f) being arranged on its both sides, U-shaped grip slipper (2a) is connected with pedestal (1) by the bolt (2g) of bottom; Sensor (3) clamping and positioning is between two threaded mandrels (2b), the position of two threaded mandrels (2b) is carried out telescopic adjustment by rotation hand wheel (2c) and is realized finally locating by handwheel fixed strip (2d), threaded mandrel locking nut (2e) and handwheel fixed strip screw (2f), thus realizes the position adjustments of sensor and change fast.
8. checkout gear as claimed in claim 7, it is characterized in that when sensor installation (3), need to demarcate two sensors (3) position, should ensure that the position often organizing sensor (3) is correct, also need to ensure that the direction of measurement of each sensor (3) is correct simultaneously, change hands wheel (2c) by choosing can regulate the position of sensor (3) and realize clamping function, after adjustment terminates, utilize Ejector pin lock jack panel (2e), fix each sensor (3).
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