Novel ball head ball socket device for airplane docking assembly and docking method

Abstract

The invention provides a docking method for airplane docking assembly. The method mainly comprises the following steps of identifying an automatic ball head: identifying a cross mark of the ball headthrough an industrial camera to carry out primary identification and positioning on the ball head; calculating a ball center of the ball head: calculating the space coordinate of the ball center underthe coordinate system of a positioner according to a set calculation method; carrying out a ball head docking step: according to the coordinates of the ball center of the ball head, actively capturing the ball head by a ball socket of the positioner, and finely adjusting the positioner according to the three-directional force indication value, so that the ball head is accurately positioned. The invention also provides a novel ball head ball socket device for airplane docking assembly. The novel ball head ball socket device and the docking method have the advantages of realizing automatic, rapid and flexible docking of the ball head and automatically switching the state of the ball head, the docking state of the ball head does not need to be observed manually, and the novel ball head ballsocket device and the docking method also have the advantages of high efficiency, low cost and universal applicability.

Description

technical field [0001] The invention relates to the technical field of aircraft docking assembly, in particular, to a novel ball head ball socket device and positioning method for aircraft docking assembly. Background technique [0002] In the final assembly process of the aircraft department, in order to meet the interchangeability and coordination requirements of the docking of large aircraft parts, a six-degree-of-freedom parallel mechanism composed of multiple three-degree-of-freedom numerical control positioners is often used to automatically adjust the attitude and position of the parts. Usually the locator is connected with the aircraft component or its tooling in the form of a ball joint, and the connection process is called the ball joint positioning process. [0003] In order to ensure the requirements of six degrees of freedom for aircraft components, ball-and-socket structures are commonly used as the connection mechanism between aircraft components and locators....

AI Technical Summary

Problems solved by technology

With this kind of clamping method, all driving parts are rigid bodies. In the case of accidental power failure or gas failure, the clamping force will change due to the loss of power. In practical applications, due to the elastic deformation of the material and the reverse of the mechanical structure Influences such as gaps will cause the ball head to loosen, and some jaws do not fit the ball head. In addition, the traditional ball head ball socket device and positioning method generally do not have the ball head measurement function or the measurement operation process is complicated. It relies on manual completion, that is, the degree of automation is low, and there is a lack of efficient measurement methods, which brings great inconvenience to the aircraft docking and assembly work

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