Automatic butt assembling method for large part as well as system

Abstract

The invention discloses an automatic butt assembling method for a large part as well as a system. The method comprises steps as follows: kinematic parameters of a servo posture adjusting positioner under the loading condition are calibrated firstly, an actual mathematical model of a butt part is established according to measurement data of the butt part, the butt part is corrected or reworked through comparison of the actual mathematical model and an ideal mathematical model of the butt part, then the relative position between a butt feature point of the butt part and a support measurement point arranged on a support device is calibrated, the butt part is mounted on the servo posture adjusting positioner, the position of the butt part in an overall reference coordinate system is determined, then a path of the butt part is planned with the optimum matching algorithm, the driving amount of each shaft of the servo posture adjusting positioner is obtained through inverse solution, finally, the butt part is moved by the servo posture adjusting positioner, and butt assembly of the butt part is completed. According to the automatic butt assembling method for the large part as well as the system, transfer errors are reduced, and errors caused by utilization of the ideal mathematical model or non-measurable property of the butt feature point are avoided, so that the quality and the success rate of automatic assembly are guaranteed.

Description

technical field [0001] The invention relates to a technology in the field of mechanical manufacturing, in particular to an automatic butt joint assembly method and system for large components. Background technique [0002] Servo control systems and high-precision measuring equipment are applied to equipment assembly, making large parts, that is, large-size parts, gradually adopt automatic assembly technology to replace traditional manual assembly. However, in the production and assembly of equipment and assembly parts, errors will occur and lead to deviations in the final assembly results. A large number of manual participation is still required for repeated adjustments, and the technical advantages of high-precision servo systems and measurement equipment cannot be fully utilized. [0003] After searching the existing technology, it was found that the Chinese patent document number CN103274055A, the publication date is September 04, 2013, which discloses a stress-free assem...

AI Technical Summary

Problems solved by technology

However, in link Ⅲ, this technology matches the measurement data of the drive measurement points with the corresponding parameters in the aircraft design coordinate system, and then obtains the movement amount required by the drive. Due to the deviation in the actual assembly process, the actual parameters of the aircraft components cannot be completely matched with the design parameters, and the actual assembly cannot be assembled at one time

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