Wallboard insertion method based on polygonal approximation
A siding and mating technology, which is applied in the field of siding mating based on polyline approximation, can solve the problems of large size, complex shape and assembly interference of large-scale curved siding, so as to ensure coordinated movement, ensure accuracy, and suppress errors. cumulative effect
Inactive Publication Date: 2012-09-12
ZHEJIANG UNIV +1
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[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, and to solve the problems of large curved wall panels with large size, complex shape and assembly interference, and to provide a wall panel mating method based on broken line approximation
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[0036] like Figure 4 As shown, the operation process of wall plate mating is as follows:
[0037] 1) Judging whether to perform wallboard mating for the first time, if so, go to step 2); otherwise, go to step 3);
[0038] 2) Calculate the initial pose of wall panel mating, design the polyline path, and enter the pose and path information into the database system 15, go to step 3);
[0039] 3) The process integration system 14 obtains the pose information and sends it to the lower attitude adjustment and positioning system 16, the left attitude adjustment and positioning system 17 and the right attitude adjustment and positioning system 18, and each attitude adjustment and positioning system drives the corresponding wallboard according to the pose information Translate to the starting pose, go to step 4);
[0040] 4) The process integration system 14 obtains the broken line path information and sends it to the lower attitude adjustment and positioning system 16, the left att...
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The invention discloses a wallboard insertion method based on polygonal approximation. The wallboard insertion method comprises the following steps of: (1) designing an initial pose Lb of wallboard insertion to be equal to [xb, yb, zb, alpha b, beta b, gama b]T, a target pose Lt to be equal to [xt, yt, zt, alpha t, beta t, gama t]T, and a dogleg path formed by translating a plurality of wallboards in order to be {Sj1, Sk1, Sm1,......, Sj2, Sk2, Sm2,......, Sj3, Sk3, Sm3,......}; (2) inputting pose information and dogleg path information to a database system, obtaining the pose information and the dogleg path information from the database system by a process integrating system, and sending to a pose adjusting positioning system; and (3) driving the wallboards to transplant to the initial pose according to the pose information through the pose adjusting positioning system, driving a positioner group to transplant and link according to the dogleg path information, and completing the insertion of the wallboards. The method has the advantages that: (1) error accumulation of the post adjusting positioning system is effectively inhibited through transplantation and linkage, and the accuracy of secondary insertion of the wallboards is ensured; (2) due to the dogleg path, discretized information can be stored structurally through a database conveniently, and the reusability is realized through one-time design; and (3) the wallboards can be moved synergistically, and the assembling efficiency is improved.
Description
technical field [0001] The invention relates to a method for mating wallboards based on broken line approximation. Background technique [0002] In the field of aircraft manufacturing, the assembly process of an aircraft is generally to first assemble the parts into relatively simple assemblies, then gradually assemble into complex parts and large parts, and finally connect the major parts into the whole aircraft. Among them, the docking assembly of components is the basis of aircraft assembly, and aircraft panel components are prone to interference and collision during the docking assembly process due to their large volume, high mass, small rigidity, and complex shape. Therefore, the docking assembly of panel components It has become a more complex and critical link in aircraft assembly. In the traditional frame-based aircraft manufacturing and assembly process, multiple jack supports and manual assisted positioning are generally used to realize the docking assembly of com...
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IPC IPC(8): B64F5/00B64F5/10
Inventor 王青窦亚冬柯映林李江雄毕运波程亮俞慈君
Owner ZHEJIANG UNIV