Normal detection method for pressure foot contact surface as conical surface

Abstract

A normal detection method for a pressure foot contact surface as a conical surface is characterized by comprising the following steps that firstly, the contact surface of the pressure foot and the surface of an aircraft skin is set to be a quadric surface, namely a conical surface; secondly, a conical measuring surface pressure foot nose tip (10) is fixed on the pressure foot main body (1) through a connecting spring (9); a plurality of normal detection sensors are arranged in the pressure foot main body (1), and the top end of each normal detection sensor is in contact with a conical surface measuring surface pressure foot nose tip (10); the distance between the mounting position and the conical surface contact point is measured through the contact of the normal detection sensor; thirdly, a right-handed coordinate system is established at the center of the nose tip of the pressure angle; and the detection distance is obtained through conversion. The method has the advantages that the algorithm is simple, and parameters are easily and rapidly calibrated.

Description

technical field [0001] The invention relates to a normal detection technology, which belongs to the technical field of aircraft assembly automation hole making, and in particular to a normal detection method (including rapid calibration) in which the contact surface facing the pressure foot is a conical surface (quadratic surface). The method can be used for contact measuring normal direction devices installed on various flexible track drilling systems, autonomous mobile automatic drilling systems, and pressure feet of industrial mechanical arm drilling systems. Background technique [0002] As an important part of the aircraft manufacturing process, aircraft assembly accounts for 50% to 70% of the entire aircraft manufacturing cycle, and plays a vital role in the manufacturing quality, service life and production cost of the entire aircraft. At present, in the process of aircraft assembly in my country, manual operations are mostly used, and the degree of automation is low....

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to aim at the measuring surface inside the pressure toe tip of the existing measurement, which is mostly flat and insensitive to changes in the normal direction, resulting in low precision, and because the sensor and the pressure toe toe measurement surface are often not smooth enough to contact, The friction is large, which is easy to cause the wear and tear of the sensor. A normal detection method is invented in which the contact surface facing the pressure foot is a tapered surface.

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