A system and method for in-situ hole making and milling of the outer surface of a large thin-walled frame.

Abstract

This invention belongs to the field of in-situ hole making and milling of large thin-walled structures, specifically relating to an in-situ hole making and milling system and method for the outer surface of large thin-walled structures. The system includes a movable support, left and right transfer bases and transfer carriages, a ring structure formed by left and right arc-shaped frames, a machining execution unit (including hole making and milling tool heads), a rotation system, a first positioning and locking device (a first connecting piece at the bottom of the left and right transfer bases), and a second positioning and locking device (configured on the splicing surface of the ring structure). It achieves rigid support for the frame structure; the left and right / lower frames can automatically align, or the frame can be divided into several parts, with the upper frames hoisted into position to form a complete circular structure covering the entire annular surface and end faces, enabling automatic hole making and milling. The frame shape can be arc-shaped or other shapes.

Description

Technical Field

[0001] This invention belongs to the field of in-situ hole making and milling of large thin-walled structures, specifically relating to an in-situ hole making and milling system and method for the outer surface of large thin-walled structures. Background Technology

[0002] In the field of hole drilling and milling of large thin-walled structures, existing technologies suffer from a series of problems. Existing general-purpose machine tools and technical solutions are bulky, can only drill holes on the left and right sides, have low coverage, and are too large and cumbersome to be suitable for fixed installation environments. Furthermore, these devices exhibit low stability and consistency, are cumbersome and time-consuming to assemble, have poor rigidity, low drilling accuracy, and relatively low drilling coverage and efficiency, and are unsuitable for milling operations. The main reason for these problems lies in the use of circular track modules composed of flexible annular rails and arc-shaped rails adsorbed onto the outer circumference of the large thin-walled structure. This results in a complex system structure, cumbersome assembly, and poor stability and consistency in the state achieved during each docking due to the large number of connected track modules.

[0003] Meanwhile, the installation of existing equipment on the outer surface of large thin-walled structures presents significant challenges. The installation of flexible rails and adsorbent curved tracks requires frequent high-altitude work by personnel, posing substantial safety risks. Furthermore, the height of the support feet connecting the two guide rails and the outer surface of the large thin-walled structure requires repeated adjustments and calibrations. These problems severely impact the stability of the equipment and the efficiency of hole-making and milling processes.

[0004] In addition, the existing equipment has a large area of ​​the large thin-walled frame docking area occupied by the suction cups and cage linkages that connect the track, resulting in low hole coverage. Furthermore, the suction cups themselves have limited adsorption force, which limits the hole drilling speed and accuracy. The overall rigidity is also weak, making it unsuitable for milling.

[0005] Overall, existing technologies have the aforementioned problems in in-situ hole making and milling of the outer surface of large thin-walled structures, and a new system and method are needed to solve these problems. Summary of the Invention

[0006] (a) Technical problems to be solved This invention addresses the above-mentioned problems by proposing an in-situ hole-making and milling system and method for large thin-walled structures. The purpose is to solve the problems of existing in-situ hole-making and milling systems for large thin-walled structures, such as large size, poor stability, cumbersome assembly, low efficiency, low hole-making accuracy, and unsuitability for milling.

[0007] (II) Technical Solution To achieve the above objectives, the first aspect of the present invention provides an in-situ hole-making and milling system for the outer surface of a large thin-walled frame, comprising: A mobile support device includes at least one set of left-side transfer base, right-side transfer base, left-side transfer vehicle, and right-side transfer vehicle; the left-side transfer base and right-side transfer base are respectively installed on the lifting components of the left-side transfer vehicle and right-side transfer vehicle, the left-side transfer vehicle and right-side transfer vehicle have lifting functions, the left and right side transfer vehicles can be shared, the left-side transfer base and right-side transfer base can be made into a form where the base and transfer vehicle are separate after the left-side transfer base and right-side transfer base are connected and fixed with a connecting locking device; The left arc-shaped frame configured on the left transfer base and the right arc-shaped frame configured on the right transfer base can be spliced ​​together to form a ring structure, and the shape can be made into an arc, square or other forms of structure; The machining execution unit, installed on the ring structure, includes at least a hole-making and milling tool head, two mutually perpendicular rotary servo axes, and three linear feed axes, which achieve five-axis linkage with the servo axes on the ring structure and independent feed machining of the hole-making and milling tool head; A rotation system, mounted on a ring structure, is used to guide and drive the machining execution unit to rotate along the ring structure; The first positioning and locking device includes a plurality of first connecting members, which are disposed at the bottom of the left transfer base and the right transfer base, for positioning and locking the left transfer base and the right transfer base at a predetermined positioning point. The second positioning and locking device is configured on the splicing surface of the ring structure to position and lock the left and right arc-shaped frames together.

[0008] Furthermore, the rotation system includes a gear ring, an annular track, a gear meshing with the gear ring, and a sliding component cooperating with the annular track. The sliding component is mounted on the machining execution unit, and the machining execution unit is provided with a driving component. The output end of the driving component is connected to the gear to provide power to make the machining execution unit rotate along the annular structure.

[0009] Furthermore, the second positioning and locking device includes a plurality of second connecting members and second docking members. The second connecting members are installed on the splicing end face of the left arc-shaped frame, and the second docking members are installed on the splicing end face of the right arc-shaped frame. The second connecting members and the second docking members cooperate for detachable positioning connection between the left arc-shaped frame and the right arc-shaped frame.

[0010] Furthermore, it also includes a third positioning and locking device, which includes multiple third connecting members installed on the bottom of the left rotating base and the right transfer base, and multiple third docking members installed on the upper ends of the left transfer vehicle and the right transfer vehicle, for detachable connection between the left rotating base and the left transfer vehicle, and for detachable connection between the right transfer base and the right transfer vehicle.

[0011] Furthermore, it also includes a splicing drive component, which includes a slide rail and a lead screw shaft mounted on the right-side transfer base, and a slider and a slide block mounted on the right-side arc-shaped frame. The slider is slidably mounted on the slide rail, and one end of the lead screw shaft passes through the slide block and is threaded to the slide block, while the other end is connected to the output shaft of the motor or a handwheel.

[0012] Furthermore, both the left and right arc-shaped frames are composed of multiple arc-shaped frames spliced ​​together, or they can be composed of two separate arc-shaped frames joined together.

[0013] To achieve the above objectives, a second aspect of the present invention provides a calibration method for in-situ hole drilling and milling of the outer surface of a large thin-walled frame, implemented using the system described above. The system further includes a data processing unit connected to the wire-type displacement sensor. The method includes: A wire-type displacement sensor is installed at one end A of a ring structure consisting of a left-side arc-shaped frame and a right-side arc-shaped frame to measure the distance from end A to the force point B on the ring structure. T Changes in relative position between them; Applying an external force causes the ring structure to deform, resulting in point B. T Move to point B P ; Based on the displacement change Δx measured by the wire-type displacement sensor, determine point B after deformation. T Point B P The actual distance between them is Lp=L T +Δx, where points A and B are... T The distance between them is L T ; Finite element analysis software was used to simulate the deformation of the ring structure under the aforementioned forces to determine point B. T and point B P The relative position; By using geometric calculations and the law of cosines, the angular deviation after arc deformation is obtained, and the processing path is corrected accordingly.

[0014] Furthermore, external forces include structural gravity, end effector gravity, and cutting force resistance.

[0015] Furthermore, the steps for deriving the angular deviation after arc deformation through geometric calculations and the law of cosines include: In triangle △AB T B P Determine side AB using the Law of Cosines T and edge AB P The included angle γ; Calculate the distance from the center point O of the ring structure to points A and B. T The resulting isosceles triangle △OAB T Middle edge OA and edge AB T The included angle δ; Using the Law of Cosines in triangle △OAB P Given the side lengths and included angles, calculate the side length OB. P ; In triangle △OB T B P In the middle, the law of cosines is used to calculate the side OB. T With edge OB P The included angle β is obtained by geometric relationships, and the actual included angle α+β is derived from the included angle β between side OA and side OB. p The included angle; Based on triangle △OAB T The actual rotation angle can be calculated using the properties of isosceles triangles. , ,in The rotation angle is planned according to the theoretical model; Finally, the hole positioning error caused by the deformation of the annular structure along the arc length of the annular structure was calculated.

[0016] (III) Beneficial Effects Compared with the prior art, the in-situ hole making and milling system and method for the outer surface of a large thin-walled frame provided by the present invention has the following beneficial effects: 1. Miniaturized Design and High-Efficiency Machining: Compared to traditional bulky general-purpose machine tools, this system achieves a miniaturized design by combining a moving support device, a ring structure, and machining execution units. Compared to flexible rails, this system has high rigidity, allowing each axis to move and machine quickly and with high precision. The rotation of the ring structure and the flexibility of the moving support improve machining efficiency, making in-situ hole making and milling more efficient.

[0017] 2. High stability and drilling accuracy: By employing a first positioning and locking device and a second positioning and locking device, the problem of poor equipment stability in existing technologies is effectively solved. This ensures the stability of the system during drilling and milling processes on planar and spatial curved surfaces, and improves drilling accuracy and consistency.

[0018] 3. Simplified Assembly and Operation: The system employs a combination of a ring structure and a movable support, reducing assembly steps and simplifying the assembly process. This makes the equipment easier to operate, shortens assembly time, and improves production efficiency.

[0019] 4. Enhanced Safety: By automatically positioning and connecting the endpoints of the ring structure, the safety hazards associated with working at heights and frequent adjustments can be effectively avoided. This not only improves the safety of equipment operation but also reduces the risks to operators.

[0020] 5. Automatic calibration and path correction: By employing a wire-type displacement sensor and finite element analysis software in the calibration method, the system can realize real-time monitoring of the deformation of the ring structure and automatic correction of the machining path, thereby improving the accuracy and consistency of machining.

[0021] In summary, this invention solves a series of problems existing in the field of in-situ hole making and milling of large thin-walled structures, and achieves beneficial effects such as equipment miniaturization, high-efficiency processing, high stability, simplified operation, improved safety and automatic correction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an in-situ hole-making and milling system for the outer surface of a large thin-walled frame disclosed in this application.

[0023] Figure 2 This is a three-dimensional structural schematic diagram of an in-situ hole-making and milling system for the outer surface of a large thin-walled frame disclosed in this application.

[0024] Figure 3 This is a schematic diagram of a left-right docking structure disclosed in this application.

[0025] Figure 4 This is a schematic diagram of a left, right, and top docking structure disclosed in this application.

[0026] Figure 5 This is a structural schematic diagram of an automated transport base disclosed in this application.

[0027] Figure 6 This is a schematic diagram of a transfer vehicle and an arc-shaped frame that are independent of each other, as disclosed in this application.

[0028] Figure 7 This is a schematic diagram of the bottom structure of a left-side transfer base disclosed in this application.

[0029] Figure 8 This is a partial structural diagram of a left-side arc-shaped frame disclosed in this application.

[0030] Figure 9 This is a schematic diagram of a rotation error analysis principle disclosed in this application.

[0031] The reference numerals shown in the figure: 10. Left-side transfer base; 11. Left-side transfer vehicle; 12. Left-side arc-shaped frame; 12-1. Upper left arc-shaped frame; 12-2. Lower left arc-shaped frame; 20. Right-side transfer base; 21. Right-side transfer vehicle; 22. Right-side arc-shaped frame; 22-1. Upper right arc-shaped frame; 22-2. Lower right arc-shaped frame; 30. Processing execution unit; 40. Rotating system; 41. Gear ring; 42. Circular track; 50. First positioning and locking device; 51. First connecting member; 60. Second positioning and locking device; 61. Second connecting piece; 62. Second mating piece; 70. Third positioning and locking device; 71. Third connecting piece; 80. Splicing drive components; 81. Slide rail; 82. Lead screw shaft; 83. Handwheel. Detailed Implementation

[0032] The present invention will now be described in detail with reference to the accompanying drawings, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] Please see Figures 1-8The diagram shown is a schematic representation of a system for in-situ hole making and milling of the outer surface of a large thin-walled frame, provided in a preferred embodiment of this application. Figures 1-8 In the embodiment shown, the processing system includes: The mobile support device includes at least one set of left transfer base 10, right transfer base 20, left transfer vehicle 11, and right transfer vehicle 21; the left transfer base 10 and right transfer base 20 are respectively mounted on the lifting components of the left transfer vehicle 11 and right transfer vehicle 21, and the left transfer vehicle 11 and right transfer vehicle 21 have lifting functions, and the left transfer base 10 and right transfer base 20 can be driven down by each lifting component to position and lock them at a predetermined positioning point; The left arc-shaped frame 12 configured on the left transfer base 10 and the right arc-shaped frame 22 configured on the right transfer base 20 can be spliced ​​together to form a ring structure. That is, after the left transfer base 10 and the right transfer base 20 are positioned and locked at the predetermined positioning point, the left arc-shaped frame 12 and the right arc-shaped frame 22 can be connected to form a complete circular ring structure. The whole process is convenient, quick, short in time and highly efficient. The machining execution unit 30 is mounted on the annular structure and includes at least a hole-making and milling tool head; The rotation system 40 is set on the ring structure and is used to guide and drive the machining execution unit 30 to rotate along the ring structure, so that the machining execution unit 30 can achieve high-precision hole making and milling. The first positioning and locking device 50 includes a plurality of first connectors 51, which are disposed at the bottom of the left transfer base 10 and the right transfer base 20, for positioning and locking the left transfer base 10 and the right transfer base 20 at a predetermined positioning point. The second positioning and locking device 60 is disposed on the splicing surface of the ring structure and is used to position and lock the left arc frame 12 and the right arc frame 22 together.

[0036] The working process of the in-situ hole-making and milling system on the outer surface of this large thin-walled frame is as follows: The left transfer base 10 and the right transfer base 20 are mounted on their respective transfer vehicles. The left arc-shaped frame 12 and the right arc-shaped frame 22 are respectively configured on the left transfer base 10 and the right transfer base 20, or installed after reaching the predetermined position. The moving support device moves to the predetermined position, and the left transfer base 10 and the right transfer base 20 are lowered by the lifting components to position and lock them at the predetermined positioning points. The left arc-shaped frame 12 and the right arc-shaped frame 22 are spliced ​​into a ring structure and fixedly connected by the second positioning and locking device 60. The rotation system 40 guides and drives the machining execution unit 30 to rotate along the ring structure, realizing high-precision hole making and milling during the machining process. This ensures the on-site machining operation of the outer surface of the large thin-walled frame, while also ensuring the accuracy and efficiency of the machining.

[0037] In this embodiment, as Figure 8 As shown, the rotation system 40 includes a gear ring 41, an annular track 42, a gear meshing with the gear ring 41, and a sliding component cooperating with the annular track 42. The annular track 42 is a track formed along an annular structure and is used to support and guide the movement of the sliding component. The gear meshes with the gear ring 41 so that when the gear is driven, it can drive the machining execution unit 30 to rotate along the annular track 42. The sliding component is mounted on the machining execution unit 30 and cooperates with the annular track 42 so that the machining execution unit 30 can move smoothly along the annular track 42. The machining execution unit 30 is provided with a drive component, the output end of which is connected to the gear. Through this connection, the drive component can provide power to make the machining execution unit 30 rotate along the annular structure.

[0038] The second positioning and locking device 60 includes multiple second connecting members 61 and second mating members 62. The second connecting members 61 are installed on the splicing end face of the left arc-shaped frame 12, and the second mating members 62 are installed on the splicing end face of the right arc-shaped frame 22. The second connecting members 61 and the second mating members 62 cooperate to allow for a detachable connection between the left arc-shaped frame 12 and the right arc-shaped frame 22. This second positioning and locking device 60 allows for the structural connection between the left arc-shaped frame 12 and the right arc-shaped frame 22, and can be automatically disassembled when needed, facilitating equipment maintenance, transportation, or other related operations.

[0039] It also includes a third positioning and locking device 70, which includes a plurality of third connecting members 71 installed on the bottom of the left rotating base 10 and the right transfer base 20, and a plurality of third docking members installed on the upper ends of the left transfer vehicle 11 and the right transfer vehicle 21, for detachable connection between the left rotating base 10 and the left transfer vehicle 11, and for detachable connection between the right transfer base 20 and the right transfer vehicle 21.

[0040] The third positioning and locking device 70 operates as follows: When it is necessary to connect the left rotating base 10 and the left transfer vehicle 11, and the right transfer base 20 and the right transfer vehicle 21, the third connector 71 and the third docking component cooperate with each other, so that the left rotating base 10 and the left transfer vehicle 11, and the right transfer base 20 and the right transfer vehicle 21 can be firmly connected together; when it is necessary to disassemble, the connector can be easily separated, so that the left rotating base 10 and the left transfer vehicle 11, and the right transfer base 20 and the right transfer vehicle 21 can be separated.

[0041] This embodiment also includes a splicing drive component 80, which includes a slide rail 81 and a lead screw shaft 82 mounted on the right-side transfer base 20, and a slider and a slide block mounted on the right-side arc-shaped frame 22. The slider is slidably mounted on the slide rail 81. One end of the lead screw shaft 82 passes through the slide block and is threaded to the slide block, while the other end is connected to the output shaft of the motor or a handwheel 83. When the motor is started or the handwheel 83 is manually operated, the rotation of the lead screw shaft 82 causes the slider to move on the slide rail 81, thereby driving the relative movement of the right-side arc-shaped frame 22. After the right-side transfer base 20 is positioned and locked at a predetermined positioning point, since there is still a gap between the right-side arc-shaped frames 22, the docking process can be achieved by driving the right-side arc-shaped frame 22 to move.

[0042] In this embodiment, both the left arc-shaped frame 12 and the right arc-shaped frame 22 are composed of multiple arc-shaped frames spliced ​​together, such as the upper left arc-shaped frame 12-1, the lower left arc-shaped frame 12-2, the upper right arc-shaped frame 22-1, and the lower right arc-shaped frame 22-2.

[0043] The arc-shaped frame in this embodiment has several basic forms: Form 1, such as Figure 3As shown in Figure 5, the left and right sides are connected. The left transfer base 10, together with the lower left arc-shaped frame 12-2 and the upper left arc-shaped frame 12-1 fixed on it, are automatically transferred to the position for drilling and milling on the outer surface of the large thin-walled structure. The lifting component on the left lowers the left transfer base 10 as a whole into the first positioning and locking device 50 below and locks it in place. The right transfer base 20, together with the lower right arc-shaped frame 22-2 and the upper right arc-shaped frame 22-1 installed on it, are automatically transferred to the position for drilling and milling on the outer surface of the large thin-walled structure. The lifting component on the right lowers the right transfer base 20 as a whole into the first positioning and locking device 50 below and locks it in place. At this time, the lower right arc-shaped frame... 22-2. The upper right arc frame 22-1 is located on the right side of the slide rail 81. The second mating part 62 on the mating surface is separated from the second connecting part 61 of the lower left arc frame 12-2 and the upper left arc frame 12-1 by a certain distance. At this time, by starting the motor on the right or manually operating the handwheel 83, the rotation of the lead screw shaft 82 will cause the slider to move on the slide rail 81, thereby pushing the lower right arc frame 22-2 and the upper right arc frame 22-1 as a whole to align with the lower left arc frame 12-2 and the upper left arc frame 12-1 as a whole. The second mating part 62 and the second connecting part 61 on the mating surface will automatically lock and finally be positioned, completing the assembly and docking of the left and right arc frames.

[0044] Form two: the left-side transfer car 11 and the right-side transfer car 21 are independent units from the upper frame, such as... Figure 6 As shown, the left transfer carriage 11 lifts and locks the left transfer base 10, and together they are automatically transferred to the drilling and milling position on the outer surface of the large thin-walled frame, i.e., the predetermined positioning point one; the lifting component configured on the left transfer carriage 11 lowers the left transfer base 10 as a whole to the lower left first positioning and locking device 50 and locks it in place, and the left transfer carriage 11 is disengaged from the left transfer base 10 (i.e. the third connecting piece 71 and the third docking piece in the third positioning and locking device 70 are separated), and then the left transfer carriage 11 is withdrawn.

[0045] The right-side transfer carriage 21 lifts and locks the lower right arc-shaped frame 22-2 and the upper right arc-shaped frame 22-1, and automatically transfers them together to the drilling and milling position on the outer surface of the large thin-walled frame. The lifting component of the right-side transfer carriage 21 lowers the right-side transfer base 20 as a whole into position and locks it in place with the lower right first positioning and locking device 50. The right-side transfer carriage 21 is then disengaged from the right-side transfer base 20 (i.e., the third connecting piece 71 and the third docking piece in the third positioning and locking device 70 are separated). After the right-side transfer carriage 21 is removed, the splicing process is carried out. The splicing process is the same as that of Form 1, and will not be repeated here.

[0046] Form 3 addresses the variation in the number of curved frames, with the positioning below based on basic forms 1 and 2.

[0047] See Figure 4 The variation involves making the left arc-shaped frame 12 into one or more arc-shaped frames, such as the lower left arc-shaped frame 12-2 and the upper left arc-shaped frame 12-1, and the right arc-shaped frame 22 into one or more arc-shaped frames, such as the lower right arc-shaped frame 22-2 and the upper right arc-shaped frame 22-1. Following the method described in Form 1 or Form 2, the lower left arc-shaped frame 12-2 and the lower right arc-shaped frame 22-2 are joined, positioned, and locked. Then, the upper left arc-shaped frame 12-1 and the upper right arc-shaped frame 22-1 are hoisted onto the joined lower left arc-shaped frame 12-1 and the lower right arc-shaped frame 22-2. After positioning and locking, the entire arc-shaped frame is assembled. Since only the upper module requires manual hoisting, and the lower right arc-shaped frame is equipped with a guide plate, no high-altitude work is required, resulting in a high safety factor, short operation time, and good installation quality.

[0048] In the in-situ hole-making and milling system of this embodiment, the equipment has high rigidity due to its fewer component modules and intermediate links. Furthermore, the entire arc-shaped frame is installed on a prefabricated foundation, ensuring good rigidity transfer between the foundation and frame, providing a solid foundation for high-quality hole-making and milling. Since the equipment does not need to be fixed to the outer circumference of the large thin-walled frame, not only can all outer circumferential surfaces be covered for processing, but it can also extend beyond the large thin-walled frame to mill its end faces, resulting in high coverage. The overall rigidity of the equipment is also good, allowing for rapid movement, repositioning, and hole-making / milling, leading to high processing efficiency. Additionally, because of its high rigidity, the equipment is suitable for milling the entire outer circumference of the large thin-walled frame. Since the equipment does not need to be fixed to the outer circumference of the large thin-walled frame, the system can be installed at the end face of the large thin-walled frame for high-precision milling.

[0049] In this embodiment, the machining execution unit 30 is an automatic hole-making and milling actuator, which can perform circular motion (Y-axis) along the assembled full-circular arc frame to perform hole-making and milling machining on the curved surface of a large thin-walled structure. The automatic hole-making and milling actuator includes two rotary axes, A and B, and three linear axes (X-axis, Z-axis, and W-axis). The X-axis is parallel to the centerline of the large thin-walled component, the Z-axis is perpendicular to the surface of the large thin-walled component, and the W-axis is parallel to the Z-axis. The W-axis is the hole-making and milling spindle feed axis. Each axis of the automatic hole-making and milling actuator is equipped with feedback elements to form a measurement feedback system. Controlled by the control system, the automatic hole-making and milling actuator can achieve high-precision five-axis linkage and positioning. The W-axis, equipped with feedback elements, can achieve high-precision hole-making and milling feed on the curved surface of the large thin-walled structure.

[0050] This embodiment also provides a calibration method for in-situ hole drilling and milling of the outer surface of a large thin-walled frame, implemented using the system described above. The system further includes a data processing unit connected to the wire-type displacement sensor; the method includes: Step 1: Install a wire-type displacement sensor at one end A of the ring structure formed by the left and right arc-shaped frames, and connect it to the force point B on the ring structure. T Measurement point A to the stress point B on the ring structure T When the relative positions of points A and B change without being affected by the gravity of other curved frame structures, the gravity of actuators, or their own gravity, T The distance between them is L T ( Figure 9 In the image, dashed lines represent the left and right arc-shaped frames in their initial state.

[0051] Step 2: Apply external force to deform the ring structure, causing point B to... T Move to point B P .

[0052] Step 3: Determine point B after deformation based on the displacement change Δx measured by the wire-type displacement sensor. T Point B P The actual distance between them is Lp=L T +Δx, where points A and B are... T The distance between them is L T .

[0053] It is understandable that point B on the left and right curved frames... T When subjected to external forces such as the gravity of other frame structures, the gravity of the end effector, and cutting force resistance, the left and right arc-shaped frames deform. Figure 9 In the middle, the left and right arc-shaped frames in the deformed state are represented by solid lines, and point B... T Move to point B P The change in the reading of the wire-type displacement sensor is Δx, and points A and B... P The distance between them can be expressed as: Lp = L T +Δx.

[0054] Step 4: Use finite element analysis software to simulate the deformation of the ring structure caused by the above-mentioned forces, in order to determine point B. T and point B P The relative position.

[0055] Step 5: Through geometric calculations and the law of cosines, the angle deviation after arc deformation is obtained, and the processing path is corrected accordingly.

[0056] Specifically, finite element analysis software can be used to calculate the deformation of the frame under the influence of the gravity of other frame structures, the gravity of the end effector, and its own gravity, thereby determining the deformation. Figure 9 China B T B P The size and direction. In triangle △AB T BP In the middle, the side length AB T AB P and B T B P Given that both sides are known, the Law of Cosines can be used to calculate side AB. T and edge AB P The included angle : ; In triangle △OAB T In the diagram, side lengths OA and OB T Both sides are R, with side length AB T Given this, we can calculate edges OA and AB. T The included angle : ; In triangle △OAB P In the diagram, side length OA and side length AB P Given that sides OA and AB P The included angle is also known, so the side length OB can be calculated using the law of cosines. P : ; In triangle △OB T B P In the middle, the side length OB T Side length OB P and side length B T B P Given that both sides are known, the Law of Cosines can be used to calculate side OB. T and edge OB P The included angle : ; In triangle △OAB T In the diagram, side lengths OA and OB T Both are R, therefore triangle △OAB T It is an isosceles triangle, therefore we know: α represents the intersection of edge OA and edge OB. p The included angle; In summary, in the arc-shaped frame AB T Up, according to the theoretical model, plan the turn. At the angle, due to the deformation of the curved frame, the actual rotation is... Angle. It can be approximated as the angle calculated according to the theoretical model. At that time, the actual angle turned for ; Therefore, the actual angle turned At that time, the positional error Δx generated along the arc length of the curved frame P for ; Because the angle error is small, replacing the chord length error with the arc length error results in a minimal error, Δx. P It can be used as the positioning error for hole making.

[0057] Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this application is defined by the appended claims rather than the foregoing description, and all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by the same unit or device in software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0058] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A calibration method for in-situ hole drilling and milling of the outer surface of a large thin-walled frame, characterized in that, This is achieved using an in-situ hole-making and milling system for the outer surface of a large thin-walled frame, the system comprising: A mobile support device includes at least one set of left-side transfer base, right-side transfer base, left-side transfer vehicle, and right-side transfer vehicle; the left-side transfer base and right-side transfer base are respectively mounted on the lifting components of the left-side transfer vehicle and the right-side transfer vehicle; A left arc-shaped frame configured on the left transfer base and a right arc-shaped frame configured on the right transfer base, wherein the left arc-shaped frame and the right arc-shaped frame can be spliced ​​together to form a ring structure; A machining execution unit, mounted on the annular structure, includes at least a hole-making and milling tool head; A rotation system, mounted on a ring structure, is used to guide and drive the machining execution unit to rotate along the ring structure; The first positioning and locking device includes a plurality of first connecting members, which are disposed at the bottom of the left transfer base and the right transfer base, for positioning and locking the left transfer base and the right transfer base at a predetermined positioning point. The second positioning and locking device is disposed on the splicing surface of the ring structure and is used to position and lock the left arc frame and the right arc frame together. The data processing unit is connected to the wire-type displacement sensor; The method includes: A wire-type displacement sensor is installed at one end A of a ring structure consisting of a left-side arc-shaped frame and a right-side arc-shaped frame to measure the distance from end A to the force point B on the ring structure. T Changes in relative position between them; Applying an external force causes the ring structure to deform, resulting in point B. T Move to point B P ; Based on the displacement change Δx measured by the wire-type displacement sensor, determine point B after deformation. T Point B P The actual distance between them is Lp=L T +Δx, where points A and B are... T The distance between them is L T ; Finite element analysis software was used to simulate the deformation of the ring structure under the aforementioned forces to determine point B. T and point B P The relative position; By using geometric calculations and the law of cosines, the angular deviation after arc deformation is obtained, and the processing path is corrected accordingly.

2. The method according to claim 1, characterized in that, The rotation system includes a gear ring, an annular track, a gear meshing with the gear ring, and a sliding component cooperating with the annular track. The sliding component is mounted on the machining execution unit, and the machining execution unit is provided with a driving component. The output end of the driving component is connected to the gear to provide power to make the machining execution unit rotate along the annular structure.

3. The method according to claim 1, characterized in that, The second positioning and locking device includes multiple second connectors and second mating parts. The second connectors are installed on the splicing end face of the left arc-shaped frame, and the second mating parts are installed on the splicing end face of the right arc-shaped frame. The second connectors and the second mating parts cooperate to provide a detachable positioning connection between the left arc-shaped frame and the right arc-shaped frame.

4. The method according to claim 1, characterized in that, The system also includes a third positioning and locking device, which includes multiple third connectors installed on the bottom of the left and right transfer bases, and multiple third docking parts installed on the upper ends of the left and right transfer vehicles, for detachable connection between the left transfer base and the left transfer vehicle, and for detachable connection between the right transfer base and the right transfer vehicle.

5. The method according to claim 1, characterized in that, The system also includes a splicing drive component, which includes a slide rail and a lead screw shaft mounted on the right-side transfer base, and a slider and a slide block mounted on the right-side arc-shaped frame. The slider is slidably mounted on the slide rail, and one end of the lead screw shaft passes through the slide block and is threaded to the slide block, while the other end is connected to the output shaft of the motor or a handwheel.

6. The method according to claim 1, characterized in that, Both the left and right arc-shaped frames are composed of multiple arc-shaped frames joined together.

7. The method according to claim 1, characterized in that, External forces include structural gravity, end effector gravity, and cutting force resistance.

8. The method according to claim 1, characterized in that, The steps for deriving the angular deviation after arc deformation through geometric calculations and the law of cosines include: In triangle △AB T B P Determine side AB using the Law of Cosines T and edge AB P The included angle γ; Calculate the distance from the center point O of the ring structure to points A and B. T The resulting isosceles triangle △OAB T Middle edge OA and edge AB T The included angle δ; Using the Law of Cosines in triangle △OAB P Given the side lengths and included angles, calculate the side length OB. P ; In triangle △OB T B P In the middle, the law of cosines is used to calculate the side OB. T With edge OB P The included angle β is obtained by geometric relationships, and the actual included angle α+β is derived from the included angle β between side OA and side OB. p The included angle; Based on triangle △OAB T The actual rotation angle can be calculated using the properties of isosceles triangles. , ,in The rotation angle is planned according to the theoretical model; Finally, the hole positioning error caused by the deformation of the annular structure along the arc length of the annular structure was calculated.

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