Normal angle measuring unit

Abstract

The invention belongs to aircraft assembly automation technology and relates to a normal angle measuring unit for measuring surface normal skin workpieces in real time. The unit comprises a support plate, a universal mechanism fixing ring, a universal mechanism outer ring, a displacement sensor, a measuring contact end, a measuring plate and a reset spring. The normal angle measuring unit is exquisite in structural design, due to the fact that surface radian of skin workpieces changes along with positions, the normal adjusting unit can automatically adapt to the radian changes on the skin surfaces, deviation value between actual normal and theoretical normal can be measured in real time, deviation angle of the actual normal and the theoretical normal can be adjusted into a preset range according to the deviation value, and perforation normal precision can be guaranteed. By the surface perforation normal measuring unit using the displacement sensor for online measuring, normal deviation of cutter axes and skin surfaces can be adjusted in real time, and perforation quality of skin workpieces can be guaranteed.

Description

technical field [0001] The invention belongs to the aircraft assembly automation technology, and relates to a normal angle measurement unit for real-time measurement of the normal direction of the curved surface of a skin workpiece. Background technique [0002] A large number of skin workpieces are used in aerospace, high-speed vehicles and other fields, and airplanes and high-speed trains have strict requirements on aerodynamic shape. At present, skin workpieces mostly adopt riveting structure, and the hole quality defects caused by poor normal precision of hole making directly affect the aerodynamic shape of the skin and even the safety performance of the workpiece structure. During the automatic hole-making process of the robot, the hole-making equipment makes holes by pressing the surface of the workpiece to closely fit it according to the pose information of the hole-making point in the theoretical model of the skin workpiece. However, due to the installation error of...

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Problems solved by technology

However, due to the installation error of the workpiece and other reasons, there is a certain deviation between the actual model of the workpiece and the theoretical model. At this time, when the hole is made on the surface of the workpiece, since the tool is not perpendicular to the surface of the workpiece, that is, there is an angular deviation between the tool axis and the surface normal, this will cause Cause quality defects in hole making

[0003] At present, the number of holes that need to be made in skin workpieces such as aircrafts and high-speed trains is very large. Manual hole making has prominent problems such as poor quality consistency and low efficiency. With the continuous increase in production demand, the use of automated hole making is an inevitable trend in the future. , but due to the installation error of the workpiece and other reasons, there is a certain deviation between the actual model of the workpiece and the theoretical model. At this time, when the hole is made on the surface of the workpiece, the quality of the hole is defective because the tool is not perpendicular to the surface of the workpiece.

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