Posture adjusting method of random parallel three-coordinate positioner group

Abstract

The invention discloses a posture adjusting method of a random parallel three-coordinate positioner. The posture adjusting method comprises the following steps: establishing a reference coordinate system, a random oblique angle coordinate system, a workpiece coordinate system and a conversion relationship among the reference coordinate system, the random oblique angle coordinate system and the workpiece coordinate system; moving the positioners connected in parallel to positioning points of a workpiece, converting coordinate values of the positioning points of the workpiece relative to a reference coordinate system into coordinate values of the positioning points of the workpiece relative to a follow-up oblique angle coordinate system, and moving the positioners to enable the positioning points to move to corresponding positions; then calibrating the posture of the workpiece, planning a posture adjustment path, and solving posture adjustment parameters and coordinate values of a following oblique angle coordinate system; and finally, performing posture adjustment motion on the following parallel three-coordinate following series positioner group, and moving the positioning points to the coordinate value position of the following oblique angle coordinate system, so that posture adjustment of the workpiece is completed.

Description

technical field [0001] This application relates to the technical field of aircraft digital assembly, and specifically refers to an attitude adjustment method of a three-coordinate serial positioner connected in parallel with position. Background technique [0002] In the aircraft manufacturing industry, a large number of parallel and parallel three-coordinate positioners are used to jointly support aircraft components and adjust the attitude of aircraft components. However, multiple three-coordinate positioners must be connected in parallel in pairs, that is, the X The coordinate module, Y coordinate module, and Z coordinate module should be parallel respectively. The current parallel posture adjustment technology has the following problems: [0003] (1) The manufacturing cycle is long, and the parallelism of any two three-coordinate positioners can only be installed through point-by-point adjustments. With the increase in the number of parallel three-coordinate positioners,...

AI Technical Summary

Problems solved by technology

[0003] (1) The manufacturing cycle is long, and the parallelism of any two three-coordinate positioners can only be installed through point-by-point adjustments. With the increase in the number of parallel three-coordinate positioners, the installation workload of parallel-connected attitude adjustment equipment multiplied

[0004] (2) The manufacturing cost is high. The installation of parallel attitude adjustment equipment not only requires special installation equipment, such as laser interferometers, dial gauges, marble rulers, invar rulers, etc., but also requires professional installers. Lease and depreciation expenses, or labor costs for skilled personnel, are a considerable expense

[0005] (3) The accuracy of attitude adjustment is low. In fact, parallel and parallel attitude adjustment equipment cannot be absolutely parallel. Using the ideal parallel state to directly characterize the relationship between the two positioners itself introduces a certain error, resulting in parallel and parallel attitude adjustment equipment. There are theoretical errors in posture adjustment

[0006] (4) The scope of application is small. Due to the long manufacturing cycle of parallel and parallel attitude adjustment equipment, it is generally installed in a fixed position without moving, and it is difficult to move and reinstall. Therefore, the scope of application of parallel and parallel attitude adjustment equipment Small, generally only suitable for a single posture adjustment object without flexibility and reconfigurable functions

[0007] (5) Parallel and parallel attitude adjustment technology requires its composition structure—the three-coordinate locator, which must be a three-coordinate orthogonal series locator, and cannot be applied to the three-coordinate serial positioner.

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