Aircraft member posture adjustment system and method based on four positioners
A technology for adjustment of aircraft parts and poses, which is applied to aircraft parts, aircraft assembly, three-dimensional position/course control, etc., can solve the problems of large assembly stress and low adjustment accuracy, and achieve automatic adjustment, jog adjustment, and good The effect of dynamic properties
Inactive Publication Date: 2009-12-02
ZHEJIANG UNIV +1
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Problems solved by technology
This method has problems such as low adjustment accuracy and large assembly stress.
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[0033] As shown in the accompanying drawings, the aircraft component pose adjustment system based on four locators includes four three-coordinate locators, a spherical process joint 6, a laser tracker 7, an aircraft component to be adjusted 8, and a target reflective ball 9. A three-coordinate locator supports the aircraft part 8 to be adjusted through the spherical process joint 6, and a target reflective ball 9 is installed on the aircraft part 8 to be adjusted, and a laser tracker 7 is used to track the spatial position of the target reflective ball 9. The three-coordinate locator includes a base plate 1. X-direction movement mechanism 2, Y-direction movement mechanism 3, Z-direction movement mechanism 4, displacement sensor 5, X-direction movement mechanism 2, Y-direction movement mechanism 3, Z-direction movement mechanism are arranged on the base plate 1 from bottom to top Mechanism 4, the upper end of the Z-direction movement mechanism 4 is provided with a conical surfac...
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The invention discloses an aircraft component position and pose adjusting system based on four locators and a method thereof. The position and pose adjusting system comprises four three-coordinate locators, a spherical technical connector, an aircraft component to be adjusted, a laser tracker and a target reflecting sphere, the three-coordinate locator comprises a bottom plate, and an X-direction motion mechanism, a Y-direction motion mechanism, a Z-direction motion mechanism and a displacement sensor which are arranged from the lower part and the upper part in sequence. The position and pose adjusting method comprises the following steps: firstly, a global coordinate system OXYZ is established, and the current position and pose and the target position and pose of the aircraft component to be adjusted are calculated; secondly, the path of the aircraft component to be adjusted from the current position and pose to the target position and pose is planed; thirdly, the tracks of motion mechanisms in all the directions are formed according to the path; and fourthly, the three locators are synergetically moved, and the position adjusting is realized. The method has the following advantages: firstly, the supporting to the aircraft component to be adjusted can be realized; secondly, the automatic adjusting to position and pose of the aircraft component to be adjusted can be realized; and thirdly, the inch adjusting of position and pose of the aircraft component to be adjusted can be realized.
Description
technical field [0001] The invention relates to a system and method for adjusting the position and posture of aircraft components based on four locators. Background technique [0002] In the field of aerospace manufacturing, in order to realize the docking assembly of parts, it is necessary to adjust the pose of large rigid body parts such as aircraft fuselage. The aircraft fuselage component is a unique operation object, which has a large volume and mass, and requires high precision in pose adjustment, and the adjustment tooling is not allowed to cause damage to the fuselage surface or internal components. At present, the widely used tandem robot is mainly suitable for occasions with small volume and mass, and low requirements for system rigidity. Commonly used parallel mechanisms are only used in the field of aircraft simulation or parallel machine tool manufacturing. The volume and mass of the moving platform cannot be compared with the fuselage components, and the syste...
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IPC IPC(8): G05D1/10G01C21/34B64F5/00B64F5/10
Inventor 柯映林杨卫东李江雄余进海方强毕运波俞慈君蒋君侠秦龙刚贾叔仕郭志敏张斌
Owner ZHEJIANG UNIV