Movement parameter identification method of horizontal automatic drilling and riveting machine of aircraft panel

Abstract

The invention discloses a movement parameter identification method of a horizontal automatic drilling and riveting machine of an aircraft panel. The method includes the steps that firstly, device base coordinate systems, sub-coordinate systems of movement axes and a tail end TCP coordinate system are established; secondly, kinematic analysis is performed, and an ideal kinematic model and an actual kinematic model are established; the positions and the postures of the tail ends of dual devices are described through the transformation relations of the two device base coordinate systems and an assembly coordinate system; thirdly, a reflecting mirror for measuring a laser tracker is installed; the laser tracker is placed at an appropriate position, and the number of needed measurement points is determined according to the number of movement parameters to be identified; fourthly, the variables of movement pairs of two numerical-control positioning devices are changed, and theoretic position coordinates and actual position coordinates of the measurement points are calculated; fifthly, the theoretic position coordinates and the actual position coordinates of the measurement points are matched, the requirement for relative position and posture precision of the dual tail ends of the automatic drilling and riveting machine is considered fully, an optimized objective function is built, and movement parameters of the two numerical-control positioning devices are identified synchronously through an L-M algorithm.

Description

technical field [0001] The invention relates to the field of aircraft assembly technology and equipment, in particular to a motion parameter identification method of an aircraft wall plate horizontal automatic drilling and riveting machine. Background technique [0002] As an extremely important part of aircraft manufacturing, aircraft assembly determines the final quality, manufacturing cost and delivery cycle of the aircraft to a large extent, and is the key and core technology in the entire aircraft manufacturing process. Since a large number of hole making and fastener connection processes are involved in the aircraft assembly process, the quality and efficiency of hole making and fastener connection will become an important factor affecting the overall assembly quality and efficiency of the aircraft. [0003] The horizontal automatic drilling and riveting machine for aircraft siding is an important equipment for hole making and fastener connection in aircraft assembly. ...

AI Technical Summary

Problems solved by technology

However, in the motion parameter identification process, only the absolute position accuracy requirements of a single device are considered, which can only meet the correction of the motion model for a single device

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