Wallboard insertion method based on polygonal approximation

Abstract

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...

AI Technical Summary

Problems solved by technology

[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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