大型飞机机身环形对接区高效精确制孔技术

发布时间：2018-04-25 20:42

本文选题：机身对接区域制孔 + 双层轨道　；参考：《浙江大学》2016年硕士论文

【摘要】：大型飞机机身对接区域制孔是飞机数字化装配过程中的重要一环,而传统的人工制孔具有效率低、孔位精度和成孔质量不稳定以及工人劳动强度大等缺点,已经不能满足现代飞机制造的高寿命、高精度和高效率的要求。为此,国内外研制了很多专用于机身部件制孔／钻铆的自动化设备,但这些设备大多并不适用于机身对接区域制孔任务,少数比较适用的系统不仅有着各种缺陷,而且核心技术为国外所掌握。目前,国内在大型机身对接区域依然以落后的手工制孔、铆接为主。在此背景下,浙江大学通过自主创新,研制了一套专用于大型飞机机身对接区域自动化制孔的环形轨道自动制孔系统,该系统采用双层轨道结构和视觉测量系统,能够在一次设备安装的情况下实现全区域精确制孔,从而为国内解决机身对接区域制孔问题提供了一种可行的解决方案。本文首先明确了课题研究背景及选题意义,综述了飞机数字化装配技术、机身段数字化装配对接技术在国内外的发展现状和方向,并对现有的机身环形对接区域自动化制孔设备及各自的优缺点进行了分析和对比,然后引出本论文的研究对象和研究内容,并对该套环形轨道自动制孔系统的主要结构组成、电气控制系统、操作软件系统及主要功能模块等进行了分析。然后,在环形轨道自动制孔系统双层轨道结构基础上提出步进式自动转站法,深入分析该方法的基本原理和具体实施方案；提出了基于磁性接近开关的站位标识法和转站粗定位方法,设计自动转站控制流程；分析了转站过程中的有害冲击现象,并采用数据估计+公式推导的方式阐述了冲击现象产生的原因,给出抑制有害冲击现象的解决方案。再后,研究了基于视觉测量系统的设备底座位姿标定方法。首先明确了环形轨道自动制孔系统进行视觉在线测量的原因以及对实际设备底座位姿进行标定的重要性,然后通过系统运动学建模确立设备底座坐标系、建立手眼关系和提出视觉测量原理,并在此基础上提出并分析了基于工业相机视觉测量系统的底座位姿标定方法。最后,通过实验环节验证了基于磁性接近开关的转站粗定位方法的可靠性；根据步进式转站原理设计出自动转站控制流程,并通过实际转站验证其可行性；对系统手眼关系进行实际标定,并基于视觉测量系统进行了设备实际底座位姿标定,实验结果表明了该方法的可靠性和可行性。
[Abstract]:It is an important link in the process of aircraft digital assembly to make holes in the docking area of large aircraft fuselage, but the traditional manual hole making has the disadvantages of low efficiency, unstable hole position precision and hole quality, and large labor intensity of workers. It can not meet the requirements of high life, high precision and high efficiency in modern aircraft manufacture. For this reason, many automatic equipments have been developed at home and abroad for hole making / drilling riveting of fuselage parts, but most of these equipments are not suitable for hole making tasks in fuselage docking area. A few more suitable systems not only have all kinds of defects, Moreover, the core technology is mastered by foreign countries. At present, in the large fuselage docking area is still backward hand-made holes, riveting is the main. Under this background, Zhejiang University, through independent innovation, has developed a set of annular track automatic hole making system, which is used for automatic hole making in the airframe docking area of large aircraft. The system adopts double-layer track structure and vision measurement system. The system can make holes accurately in the whole area under the condition of primary equipment installation, thus providing a feasible solution for solving the hole making problem of fuselage docking area in our country. In this paper, the research background and significance of the subject are defined, and the development status and direction of aircraft digital assembly technology, fuselage segment digital assembly and docking technology at home and abroad are summarized. The advantages and disadvantages of the existing automatic hole making equipment in the annular docking area of the fuselage are analyzed and compared, then the research object and research content of this paper are introduced, and the main structure composition of the automatic hole making system of the annular track is introduced. Electrical control system, operation software system and main function modules are analyzed. Then, on the basis of double-layer track structure of annular track automatic hole making system, the step automatic transfer station method is put forward, and the basic principle and concrete implementation scheme of this method are analyzed in depth. In this paper, the method of station identification based on magnetic proximity switch and the method of coarse positioning of transfer station are proposed, and the control flow of automatic transfer station is designed, and the harmful impact phenomenon in the process of transferring station is analyzed. The reason of shock phenomenon is explained by deducing the formula of data estimation, and the solution of restraining harmful shock phenomenon is given. After that, the calibration method of equipment base position and pose based on vision measurement system is studied. Firstly, the reason of the automatic hole making system of annular track and the importance of calibrating the position and pose of the base of the actual equipment are defined, and then the coordinate system of the base of the equipment is established by the kinematic modeling of the system. Based on the establishment of hand-eye relationship and the principle of vision measurement, the method of base position and pose calibration based on industrial camera vision measurement system is proposed and analyzed. Finally, the reliability of the rough positioning method based on magnetic proximity switch is verified through the experiment, and the control flow of automatic transfer station is designed according to the principle of stepping station, and the feasibility of the method is verified by the actual transfer station. The actual calibration of the hand-eye relationship of the system and the calibration of the actual base position and pose of the equipment based on the visual measurement system are carried out. The experimental results show the reliability and feasibility of the method.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V262.4

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