CN113997120B - Normal direction detection method for conical surface of contact surface of pressure foot - Google Patents
Normal direction detection method for conical surface of contact surface of pressure foot Download PDFInfo
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- CN113997120B CN113997120B CN202111290000.6A CN202111290000A CN113997120B CN 113997120 B CN113997120 B CN 113997120B CN 202111290000 A CN202111290000 A CN 202111290000A CN 113997120 B CN113997120 B CN 113997120B
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- 238000001514 detection method Methods 0.000 title claims abstract description 37
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 17
- 238000007664 blowing Methods 0.000 claims description 2
- 238000005461 lubrication Methods 0.000 claims description 2
- 239000003595 mist Substances 0.000 claims description 2
- 238000003754 machining Methods 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 10
- 238000005553 drilling Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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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
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
A normal detection method for a pressure foot facing contact surface being a conical surface is characterized in that: it comprises the following steps: firstly, the pressure foot is put on the surface of the skin of the airplaneThe contact surface is a conic surface; secondly, fixing the nose tip (10) of the pressure foot of the conical surface measuring surface on the pressure foot main body (1) through a connecting spring (9); a plurality of normal detection sensors are arranged in the pressure foot main body (1), and the top end of each normal detection sensor is in contact with the pressure foot nose tip (10) of the conical surface measuring surface; measuring the distance between the installation position and the conical surface contact point through a contact of the normal detection sensor; thirdly, establishing a right-hand coordinate system at the center of the nose tip of the pressure angle
(ii) a The detection distance is obtained by conversion. The invention has the advantages of simple algorithm and easy and quick parameter calibration.
Description
Technical Field
The invention relates to a normal detection technology, belongs to the technical field of automatic hole making in airplane assembly, and particularly relates to a normal detection method (including rapid calibration) for a pressure foot contact surface as a conical surface (quadric surface). The method can be used for the contact type measuring normal device arranged on the pressure foot of various flexible track hole making systems, autonomous mobile automatic hole making systems and industrial mechanical arm hole making systems.
Background
The aircraft assembly is used as an important ring in the aircraft manufacturing process, accounts for 50% -70% of the whole aircraft manufacturing period, and plays a vital role in the manufacturing quality, the service life and the production cost of the whole aircraft. At present, manual operation is mostly adopted in the aircraft assembly process in China, the automation degree is low, and the demand for the aircraft assembly automation is increasingly urgent along with the increase of the demand for the aircraft. For the automated assembly technique of the docking of large parts of an aircraft, several solutions exist as follows: the automatic hole drilling system based on the flexible track comprises an industrial robot, an automatic movable type automatic hole drilling system and an automatic hole drilling system based on the flexible track. The drilling process is substantially the same regardless of the automated drilling system used. Generally, a pressure foot and a main shaft are additionally arranged at the tail end of an automatic hole making system to make holes, the pressure foot applies pressing force to a skin for the first time to carry out unidirectional pressing during hole making, then the normal direction is detected, the pose is adjusted, and holes are made on the aircraft skin by the main shaft along the normal direction of the skin.
The pressure foot can be divided into a contact pressure foot and a non-contact pressure foot according to different detection normal modes. The non-contact pressure foot detection mode generally adopts non-contact measurement components such as a laser displacement sensor or an eddy current displacement sensor and the like to directly measure the surface of the skin of the airplane, the laser distance measurement sensors positioned around the pressure foot can measure the accurate relation between the pressure foot and the surface to be measured at the moment, and the normal direction of a plane to be measured can be solved through a normal solving algorithm according to the preset calibrated sensor installation position and sensor readings through measured feedback data. The non-contact detection is generally measured before the pressure foot is pressed, and the pressure foot is pressed after the normal direction is adjusted, so that the nose tip of the pressure foot has no self-adjusting capability. The non-contact normal measurement has the characteristics of simple structure, convenient use and the like, and is widely applied. But the detection precision is poor under the conditions that the local deformation is large after the pressing, steps exist around the pressing and the like interfere.
When equipment generally carries out normal direction detection, the pressure foot firstly contacts the surface of an airplane skin to compress, the nose tip of the pressure foot can be automatically attached to a tangent plane perpendicular to the normal direction of the skin according to the curvature of the skin, and the normal direction of the skin is determined by measuring the normal direction of the tangent plane where the nose tip is located through a length sensor installed on the pressure foot. The length sensor can be a contact type sensor, such as an incremental grating type length sensor, or a non-contact laser sensor. Compare in non-contact pressure foot, but contact pressure foot nose point freely nimble is rotatory, has stronger adaptability, after the pressure foot contacted aircraft skin, can laminate aircraft skin surface completely can not fish tail aircraft skin, and contact range is small and exquisite a lot than non-contact pressure foot, is difficult for receiving influences such as system hole on every side, so local deformation is great after compressing tightly, and there is interference on the periphery
Reliable measurements are possible (for example, with wood-grain paper) and are therefore also the only option in these particular cases.
At present, most of the measuring surfaces inside the nose tip of the pressure foot are planes, so that the measuring algorithm is simpler. However, the pressure foot is smaller, and the change of the measuring surface is smaller, so that the measuring device is insensitive to the change of the normal direction, and the accuracy is not high. In addition, in the contact process, the contact between the sensor and the nose tip measuring surface of the pressure foot is not smooth enough, the friction is large, and the abrasion of the sensor is easily caused. This problem is solved by using a conic surface as the measurement surface. But this also presents the challenge that the normal measurement is no longer a linear solution.
Disclosure of Invention
The invention aims to solve the problems that the accuracy is not high and the sensor is easy to wear because the contact between the sensor and the measuring surface of the nose tip of the pressure foot is not smooth enough and the friction is large because the measuring surface in the nose tip of the pressure foot is mostly a plane and is insensitive to the change of the normal direction in the prior art.
The technical scheme of the invention is as follows:
a normal detection method for a pressure foot-oriented contact surface with a quadric surface is characterized by comprising the following steps: it comprises the following steps:
firstly, setting a contact surface of a pressure foot and the surface of an aircraft skin as a quadric surface;
secondly, fixing the pressure foot nose tip (10) of the quadric surface measuring surface on the pressure foot main body (1) through a connecting spring (9); a plurality of normal detection sensors are arranged in the pressure foot main body (1), and the top end of each normal detection sensor is in contact with the pressure foot nose tip (10) of the quadric surface measuring surface; measuring the distance between the installation position and a contact point of the quadric surface through a contact of the normal detection sensor;
thirdly, a right-hand coordinate system O is established at the center of the nose tip of the pressure angle e XYZ；
The axial line of the conical surface of the nose head of the pressure foot is arranged along the normal direction of the detection plane
Contact point P of normal sensor and conical surface i ＝[x i y i z i ] T ，i＝1，2，3，4；
Initial position S when normal sensor reading is zero i ＝[sx i sy i sz i ] T ，i＝1，2，3，4；
The normal sensor being mounted in the direction of the axis
i＝1，2，3，4；
Reading L of normal sensor i ，i＝1，2，3，4；
The distance from the vertex of the quadric surface to the center of the nose tip of the pressure foot is H p ；
Vertex M of quadric surface o ；
The included angle between the generatrix of the quadric surface and the axis is alpha;
then:
wherein N is p Is a vector in the unit of a unit,
finishing to obtain:
wherein:
from geometric relationships of quadric surfaces
For the quadric equation:
wherein the unknown number is N p ＝[l p m p n p ] T And obtaining two solutions by a least square method, and comparing to obtain the smaller of the two solutions as a final solution.
The invention has the beneficial effects that:
the invention provides an algorithm method for normal detection of a quadric surface contact pressure foot. The method is mainly used for detecting the normal direction of the aircraft skin of the area to be drilled in the aircraft assembly process, and has the following remarkable advantages:
firstly, the algorithm is simple and quick, on the basis of known geometric parameters, the normal direction of the current measuring plane can be obtained only by providing readings of four normal direction detecting sensors, and the normal direction detecting algorithm has good robustness; secondly, the method adopts the conical surface to 'amplify' the measurement difference of each sensor, so that the method has better measurement precision.
Drawings
FIG. 1 is a schematic view of the nose tip structure of a pressure foot with a conical contact measurement surface according to the present invention.
Fig. 2 is a schematic view of the contact pressure foot of the present invention.
Fig. 3 is a schematic diagram of the normal detection of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-3.
The embodiment provides a normal detection method for the contact type pressure foot (figure 2) of the quadric surface (figure 1) taking the contact measurement surface of the nose tip of the pressure foot as the conical surface, and has the advantages of simple algorithm and easy and rapid parameter calibration. Reference may be made to a quadratic surface like a conical surface, such as a circular arc surface.
The pressure foot structure adopted by the embodiment is shown in fig. 2, and comprises a pressure foot main body 1 and a pressure foot nose tip 10 of a quadric surface measuring surface; the nose tip 10 of the pressure foot of the quadric surface measuring surface is fixed on the pressure foot main body 1 through a connecting spring 9; the normal detection sensors 3, 4, 5 and 6 are arranged in the pressure foot main body 1, and the top ends of the normal detection sensors are in contact with the tip of the pressure foot nose 10 of the quadric surface measuring surface; the processing auxiliary equipment comprises a pressure foot chip removal pipeline 2, an oil mist lubrication oil inlet 7 and a pressure foot chip blowing air inlet 8. During detection, for attaching the surface, the nose tip 10 of the pressure foot of the quadric surface measuring surface can freely rotate around the pressure foot main body 1 on the premise that the connecting spring 9 is fixed, and the normal direction detecting sensors 3, 4, 5 and 6 measure the distance between the installation position and the contact point of the quadric surface through the contact.
The normal detection method of the present embodiment is shown in fig. 3:
establishing a right-hand coordinate system O at the center of the nose tip of the pressure angle e XYZ；
The axial line of the conical surface of the nose head of the pressure foot is arranged along the normal direction of the detection plane
Contact point P of four normal sensors and conical surface i ＝[x i y i z i ] T ，i＝1，2，3，4；
Four normal sensor initial positions (zero reading) S i ＝[sx i sy i sz i ] T ，i＝1，2，3，4；
Mounting directions (axial directions) of four Normal Sensors
i＝1，2，3，4；
Readings L of four normal sensors i ，i＝1，2，3，4；
The distance from the vertex of the conical surface to the center of the nose tip of the pressure foot is H p ；
Vertex M of cone o ；
The included angle between the generatrix of the conical surface and the axis is alpha;
then:
wherein N is p Is a vector in the unit of a unit,
finishing to obtain:
wherein:
from the geometrical relationship of the conical surfaces
Because the cone equation is a quadric equation, among them:
wherein the unknown number is N p ＝[l p m p n p ] T Two solutions can be obtained by a least square method, and the smaller one of the two solutions is obtained as a final solution by comparison.
The present invention is not concerned with parts which are the same as or can be implemented using prior art techniques.
Claims (5)
1. A normal detection method for a pressure foot facing contact surface being a conical surface is characterized in that: it comprises the following steps:
firstly, setting a contact surface of a pressure foot and the surface of an aircraft skin as a conical surface;
secondly, fixing the nose tip (10) of the pressure foot of the conical surface curved surface measuring surface on the pressure foot main body (1) through a connecting spring (9); a plurality of normal detection sensors are arranged in the pressure foot main body (1), and the top end of each normal detection sensor is in contact with the pressure foot nose tip (10) of the conical surface measuring surface; measuring the distance between the installation position and the conical surface contact point through a contact of the normal detection sensor;
thirdly, a right-hand coordinate system O is established at the center of the nose tip of the pressure angle e XYZ；
The axial line of the conical surface of the nose head of the pressure foot is arranged along the normal direction of the detection plane
Contact point P of normal sensor and conical surface i ＝[x i y i z i ] T ，i＝1，2，3，4；
Initial position S when normal sensor reading is zero i ＝[sx i sy i sz i ] T ，i＝1，2，3，4；
The normal sensor being mounted in the direction of the axis
Normal sensor reading L i ，i＝1，2，3，4；
The distance from the vertex of the conical surface to the center of the nose tip of the pressure foot is H p ；
Vertex M of the cone o ；
The included angle between the conical surface bus and the axis is alpha;
then:
wherein N is p Is a vector in the unit of a unit,
finishing to obtain:
wherein:
from the geometrical relationship of the conical surfaces
This gives:
wherein the unknown number is N p ＝[l p m p n p ] T And obtaining two solutions by a least square method, and comparing to obtain the smaller of the two solutions as a final solution.
2. The method of claim 1, further comprising: the number of the normal detection sensors is more than 3, and the normal detection sensors are uniformly distributed in the pressure foot main body (1).
3. The method of claim 1, further comprising: the number of the normal detection sensors is 4, and the normal detection sensors are uniformly distributed in the pressure foot main body (1).
4. The method of claim 1, further comprising: the auxiliary machining equipment for the pressure foot main body (1) comprises a pressure foot chip removal pipeline (2), an oil mist lubrication oil inlet (7) and a pressure foot chip blowing air inlet (8).
5. The method of claim 1, further comprising: during detection, the nose tip (10) of the pressure foot of the quadric surface measuring surface can freely rotate around the pressure foot main body (1) on the premise that the connecting spring (9) is fixed, wherein the nose tip is an attaching surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111290000.6A CN113997120B (en) | 2021-11-02 | 2021-11-02 | Normal direction detection method for conical surface of contact surface of pressure foot |
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|---|---|---|---|
| CN202111290000.6A CN113997120B (en) | 2021-11-02 | 2021-11-02 | Normal direction detection method for conical surface of contact surface of pressure foot |
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| CN113997120B true CN113997120B (en) | 2022-08-30 |
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| KR101304579B1 (en) * | 2011-07-15 | 2013-09-05 | 삼성중공업 주식회사 | Device and method for measuring position of moving object in water |
| CN107020528A (en) * | 2017-04-13 | 2017-08-08 | 南京航空航天大学 | A kind of pressure foot of automatic drill-rivet end effector device of integrated normal direction centering function |
| CN109598779A (en) * | 2018-07-17 | 2019-04-09 | 哈尔滨工业大学（威海） | A kind of circular cone spline surface generation method for approaching given surface model |
| CN110935906B (en) * | 2019-12-16 | 2021-03-23 | 南京航空航天大学 | Machining point positioning, normal detection and adjustment method based on mixed connection type track hole making system |
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