A pose adjustment closing driving method, system, device and medium based on multi-positioner space protection distance threshold

Abstract

The present application relates to the technical field of aircraft major component attitude adjustment and matching, in particular to a kind of attitude adjustment and matching driving method, system, equipment and medium based on the space protection distance threshold of multiple positioners;The method first establishes the position error model of three-coordinate positioner spherical hinge center in the aircraft coordinate system, secondly, the space protection distance threshold setting value of multiple positioners is obtained according to the position error model, then according to the space protection distance threshold setting value, the constraint condition of major component attitude adjustment cooperative motion is set, finally, according to the constraint condition of major component attitude adjustment cooperative motion, major component attitude adjustment and matching system is driven to complete attitude adjustment, improve the efficiency of aircraft major component attitude adjustment and matching system, avoid the pulling of aircraft major component or lead to product extrusion deformation, and provide basis for the scheme design of major component attitude adjustment and matching system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of aircraft major component pose adjustment and coining, in particular to a pose adjustment and coining driving method, system, device and medium based on multi-positioner space protection distance threshold. BACKGROUND

[0002] In the field of aircraft manufacturing, in order to realize the digitization, automation and flexibility of the aircraft major component assembly process, a large aircraft component pose adjustment and coining system is developed. The three-coordinate positioner pose adjustment motion is resolved through the pose measurement, pose fitting and pose adjustment control flow process, and the positioner motion axis cooperative motion constraint condition is set, so as to drive the multi-axis cooperative motion to the target position of the respective axis, and realize the pose adjustment of the major component. The three-coordinate positioner is mostly a PPPS series-parallel mechanism, which has the advantages of simple structure, strong bearing capacity, high precision and stable and reliable working performance. The constraint condition of multi-axis cooperative motion is to ensure that the spherical hinge centers of the three-coordinate positioners are not changed, so as to reduce the pulling stress on the major component, so that the product can move safely on the positioner. However, due to factors such as motion trajectory planning error, positioner motion positioning error and spherical hinge center gap, it is difficult to ensure that the distance between the spherical hinge centers is not changed. Therefore, the current technical personnel mostly set the distance threshold between the spherical hinge centers by experience, and consider that when the distance between the spherical hinge centers of the three-coordinate positioners is within the threshold range, the three-coordinate positioners meet the pose adjustment cooperative motion requirements, otherwise the motion between the three-coordinate positioners cannot maintain the rigidity invariance, and then the path planning needs to be re-performed or the current pose adjustment process needs to be stopped. However, the experience-based setting of the protection distance threshold leads to reduced system motion efficiency, and the pulling stress on the product cannot be estimated, which may seriously cause the pulling of the aircraft major component or lead to product extrusion deformation.

[0003] The Chinese invention patent with the patent application number “200810161668.9” and the name “Aircraft component pose adjustment system and method based on four positioners” does not propose a solution for setting the space protection distance threshold; the Chinese invention patent with the patent application number “202011060876.7” and the name “Multi-positioner space distance real-time protection method” realizes the protection of the tooling or major component by controlling the deviation value between the distance between the spherical hinge centers and the real-time distance between the spherical hinge center points of each positioner, but does not analyze the errors existing in the pose adjustment and coining system and the source of the protection distance threshold, and does not propose a solution for setting the space protection distance threshold. SUMMARY

[0004] The present application aims at the problems that the existing pose adjustment matching method sets the protection distance threshold value in an empirical way, resulting in reduced system motion efficiency, and the pulling stress generated by the product cannot be estimated, which may cause the aircraft major components to be pulled or the product to be extruded and deformed, and proposes a pose adjustment matching driving method, system, equipment and medium based on a multi-positioner space protection distance threshold value; first, a position error model of a three-coordinate positioner spherical hinge center in an aircraft coordinate system is established, second, a space protection distance threshold value setting value of the multi-positioner is obtained according to the position error model, then, a major component pose adjustment cooperative motion constraint condition is set according to the space protection distance threshold value setting value, and finally, the major component pose adjustment matching system is driven to complete pose adjustment according to the major component pose adjustment cooperative motion constraint condition, thereby improving the efficiency of the aircraft major component pose adjustment matching system, avoiding the aircraft major components from being pulled or the product from being extruded and deformed, and providing a basis for the scheme design of the major component pose adjustment matching system.

[0005] The present application is implemented as follows:

[0006] The pose adjustment matching driving method based on a multi-positioner space protection distance threshold value first establishes a position error model of a three-coordinate positioner spherical hinge center in an aircraft coordinate system, then obtains a space protection distance threshold value setting value of the multi-positioner according to the position error model, and then sets a major component pose adjustment cooperative motion constraint condition according to the space protection distance threshold value setting value, and finally drives the major component pose adjustment matching system to complete pose adjustment according to the major component pose adjustment cooperative motion constraint condition.

[0007] In order to better implement the present application, further, the pose adjustment matching method based on a multi-positioner space protection distance threshold value specifically includes the following steps:

[0008] Step S1: establishing a position error model of a three-coordinate positioner spherical hinge center in an aircraft coordinate system according to the obtained positioner positioning error, trajectory planning fitting error and spherical hinge center gap error;

[0009] Step S2: obtaining a space protection distance threshold value setting value of the multi-positioner according to the position error model and the tolerance allocation principle;

[0010] Step S3: setting a major component pose adjustment motion constraint condition according to the space protection distance threshold value setting value and the distance between the three-coordinate positioner spherical hinge centers;

[0011] Step S4: driving the major component pose adjustment matching system to complete pose adjustment according to the major component pose adjustment motion constraint condition and the obtained maximum position error allowed value.

[0012] In order to better implement the present application, further, the positioner positioning error obtained in step S1 specifically includes the following steps:

[0013] Step S11A: Establish the aircraft coordinate system and the locator coordinate system using a laser tracker. Based on the rotation and translation coordinate transformation relationship, obtain the position vector of the ball joint center of the three-coordinate locator in the aircraft coordinate system.

[0014] Step S12A: Obtain the distance between the centers of the ball joints of the three-coordinate locator.

[0015] Step S13A: Based on the position error vector generated by the movement of the ball joint center of the three-coordinate positioner. Obtain the actual corrected position vector of the ball joint center of the three-coordinate positioner.

[0016] Step S14A: Based on the actual corrected position vector The maximum spatial error caused by the movement of the ball joint center in three directions is obtained.

[0017] Step S15A: Based on the distance between the centers of the ball joints of the three-coordinate locator Obtain the distance error vector between the centers of the ball joints of the transformed three-coordinate positioner. Distance error between the centers of the ball joint

[0018] Step S16A: Based on the distance error vector between the centers of the ball joints of the transformed three-coordinate locator... Obtain the positioning error of the positioner

[0019] To better implement this invention, step S1, specifically, includes the following steps for obtaining the trajectory planning fitting error:

[0020] Step S11B: Based on the initial state of the vertical stabilizer and the target attitude, the positioner's motion trajectory is obtained using interpolation error.

[0021] Step S12B: Based on the number of interpolation points and the interpolation values ​​of trajectory planning, obtain the trajectory planning fitting error δf generated by trajectory planning fitting.

[0022] To better realize the present invention, the step S1 of obtaining the ball joint center clearance error specifically includes the following steps:

[0023] Step S11C: Set several surface measurement points on the ball head surface of the positioner;

[0024] Step S12C: Measure the coordinates of several surface measurement points and fit them to obtain the theoretical center coordinates of the ball head in the locator coordinate system;

[0025] Step S13C: obtaining the actual fitting ball center coordinates of the spherical hinge center in the aircraft coordinate system according to the conversion relationship between the positioner coordinate system and the aircraft coordinate system;

[0026] Step S14C: obtaining the spherical hinge center gap error δd of the multi-positioner according to the relationship between the theoretical ball center coordinates of the positioner and the actual fitting ball center coordinates i .

[0027] To better achieve the present application, further, the step S4 specifically comprises the following steps:

[0028] Step S41: obtaining the position error allowable maximum value D of the large component attitude adjustment and closing system according to the product deformation parameter and the key intersection parameter set by the large component attitude adjustment and closing system max ;

[0029] Step S42: driving the large component attitude adjustment and closing system to complete the attitude adjustment, if max and the space protection distance threshold value is set as the cooperative motion constraint condition of the large component attitude adjustment and closing system; if , it is judged that the current large component attitude adjustment and closing system precision does not meet the requirements and cannot execute the driving attitude adjustment and closing.

[0030] Based on the above-mentioned attitude adjustment and closing method based on the space protection distance threshold value of the multi-positioner, to better achieve the present application, further, an attitude adjustment and closing driving system based on the space protection distance threshold value of the multi-positioner is proposed, comprising an error establishing unit, a space protection distance threshold value setting unit, a constraint setting unit and an attitude adjustment and closing unit;

[0031] The error establishing unit is used for establishing the position error model of the spherical hinge center of the three-coordinate positioner in the aircraft coordinate system;

[0032] The space protection distance threshold value setting unit is used for obtaining the space protection distance threshold value setting value of the multi-positioner according to the position error model;

[0033] The constraint setting unit is used for setting the large component attitude adjustment cooperative motion constraint condition according to the space protection distance threshold value setting value;

[0034] The attitude adjustment and closing unit is used for driving the large component attitude adjustment and closing system to complete the attitude adjustment according to the large component attitude adjustment cooperative motion constraint condition.

[0035] ​​Based on the above-mentioned multi-positioner space protection distance threshold-based pose adjustment matching method, in order to better realize the present application, further, an electronic device is provided, comprising a memory and a processor; the memory stores a computer program; when the computer program is executed on the processor, the above-mentioned multi-positioner space protection distance threshold-based pose adjustment matching method is realized.

[0036] Based on the above-mentioned multi-positioner space protection distance threshold-based pose adjustment matching method, in order to better realize the present application, further, a computer readable storage medium is provided, the computer readable storage medium stores computer instructions; when the computer instructions are executed on the above-mentioned electronic device, the above-mentioned multi-positioner space protection distance threshold-based pose adjustment matching method is realized.

[0037] The present application has the following beneficial effects:

[0038] (1) The present application provides a basis for large component pose adjustment collaborative motion constraint according to the control protection distance threshold acquisition method of using locator positioning error, trajectory planning fitting error and spherical hinge center gap error.

[0039] (2) The space protection distance threshold obtained by the present application can be used as a basis for determining whether the large component pose adjustment matching system can complete the pose adjustment, thereby improving the efficiency of the aircraft large component pose adjustment matching system, avoiding the pulling of the aircraft large component or causing product extrusion deformation, and providing a basis for the scheme design of the large component pose adjustment matching system. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of the multi-positioner space protection distance threshold-based pose adjustment matching method provided by the present application is provided.

[0041] Figure 2 A position vector diagram of the 3-PPPS locator spherical hinge center provided by the present application is provided.

[0042] Figure 3 A large component pose adjustment matching system structure schematic diagram of the 3-PPPS series-parallel mechanism provided by the present application is provided.

[0043] Among them, 1, the first locator, 2, the second locator, 3, the third locator. DETAILED DESCRIPTION

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be understood that the described embodiments are only a part of the embodiments of the present application, but not all the embodiments, and therefore should not be regarded as limiting the protection scope. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0045] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] Embodiment 1

[0047] The embodiment proposes a multi-positioner space protection distance threshold-based pose adjustment matching driving method. First, a position error model of a spherical hinge center of a three-coordinate positioner in an aircraft coordinate system is established. Second, a space protection distance threshold setting value of the multi-positioner is obtained according to the position error model. Then, a large component pose adjustment cooperative motion constraint condition is set according to the space protection distance threshold setting value. Finally, the large component pose adjustment matching system is driven to complete pose adjustment according to the large component pose adjustment cooperative motion constraint condition. Specifically, the following steps are included:

[0048] Step S1: According to the obtained positioner positioning error, trajectory planning fitting error and spherical hinge center gap error, a position error model of the spherical hinge center of the three-coordinate positioner in the aircraft coordinate system is established.

[0049] The positioner positioning error obtained in step S1 specifically includes the following steps:

[0050] Step S11A: A laser tracker is used to establish an aircraft coordinate system and a positioner coordinate system. According to the rotation and translation coordinate conversion relationship, a position vector of the spherical hinge center of the three-coordinate positioner in the aircraft coordinate system is obtained.

[0051] Step S12A: The distance between the spherical hinge centers of the three-coordinate positioners is obtained.

[0052] Step S13A: According to the position error vector generated by the movement of the spherical hinge center of the three-coordinate positioner The actual correction position vector of the spherical hinge center of the three-coordinate positioner is obtained.

[0053] Step S14A: obtaining the actual fitting ball center coordinates of the ball joint center in the aircraft coordinate system according to the actual fitting ball center coordinates of the ball joint center in the position error model coordinate system and the transformation relationship between the position error model coordinate system and the aircraft coordinate system obtaining the maximum spatial error generated by the movement of the ball joint center in three directions

[0054] Step S15A: obtaining the distance error vector between the transformed ball joint centers of the three-coordinate positioner according to the distance between the transformed ball joint centers of the three-coordinate positioner obtaining the distance error vector between the transformed ball joint centers of the three-coordinate positioner the distance error value between the ball joint centers

[0055] Step S16A: obtaining the positioner positioning error according to the distance error vector between the transformed ball joint centers of the three-coordinate positioner obtaining the positioner positioning error

[0056] The trajectory planning fitting error obtained in step S1 specifically includes the following steps:

[0057] Step S11B: obtaining the positioner motion trajectory by using the interpolation error method according to the initial state and the target attitude of the vertical stabilizer surface

[0058] Step S12B: obtaining the trajectory planning fitting error δf generated by the trajectory planning fitting according to the trajectory planning interpolation point number and the trajectory planning interpolation value.

[0059] The ball joint center gap error obtained in step S1 specifically includes the following steps:

[0060] Step S11C: setting a plurality of surface measurement points on the ball head surface of the positioner

[0061] Step S12C: measuring the coordinates of the plurality of surface measurement points, and fitting to obtain the positioner theoretical ball head center coordinates of the ball head in the positioner coordinate system

[0062] Step S13C: obtaining the actual fitting ball head center coordinates of the ball joint center in the aircraft coordinate system according to the conversion relationship between the positioner coordinate system and the aircraft coordinate system

[0063] Step S14C: obtaining the ball joint center gap error δd of the multi-positioner according to the relationship between the positioner theoretical ball head center coordinates and the actual fitting ball head center coordinates i .

[0064] Step S2: obtaining the spatial protection distance threshold setting value of the multi-positioner according to the position error model and the tolerance allocation principle.

[0065] Step S3: According to the spatial protection distance threshold value and the distance between the three-coordinate locator spherical hinge center, set the constraint condition of the large component attitude adjustment motion.

[0066] Step S4: According to the large component attitude adjustment motion constraint condition and the obtained maximum position error, drive the large component attitude adjustment system to complete the attitude adjustment.

[0067] Further, the step S4 specifically includes the following steps:

[0068] Step S41: According to the product deformation parameter and the key intersection parameter set by the large component attitude adjustment system, obtain the maximum position error D max of the large component attitude adjustment system.

[0069] Step S42: According to the maximum position error D max and the spatial protection distance threshold value drive the large component attitude adjustment system to complete the attitude adjustment, if , it is judged that the current large component attitude adjustment system can execute the driving attitude adjustment, and the spatial protection distance threshold value is set as the cooperative motion constraint condition of the large component attitude adjustment system; if , it is judged that the accuracy of the current large component attitude adjustment system does not meet the requirements, and cannot execute the driving attitude adjustment.

[0070] Working principle: The embodiment first establishes a position error model of the three-coordinate locator spherical hinge center in the aircraft coordinate system, then obtains the spatial protection distance threshold value of the multi-positioner according to the position error model, and then sets the large component attitude adjustment cooperative motion constraint condition according to the spatial protection distance threshold value. Finally, according to the large component attitude adjustment cooperative motion constraint condition, drive the large component attitude adjustment system to complete the attitude adjustment, improve the efficiency of the aircraft large component attitude adjustment system, avoid the pulling of the aircraft large component or cause the product to be extruded and deformed, and provide a basis for the scheme design of the large component attitude adjustment system.

[0071] Embodiment 2:

[0072] The embodiment is based on the above-mentioned embodiment 1, as shown in Figure 1 , Figure 2 , Figure 3 , a specific embodiment is described in detail.

[0073] As shown in Figure 1 , it includes the following steps:

[0074] Step S1: Establish a position error model of the three-coordinate locator spherical hinge center in the aircraft coordinate system:

[0075]

[0076] wherein, δf, δd i respectively represent the positioning error of the positioner, the fitting error of the trajectory planning, and the center clearance error of the spherical hinge. i, m, n represent the number of the PPPS series-parallel mechanisms, wherein m≠n≤i (i=1, 2, 3,...).

[0077] Step S2: using the obtained position error model and the tolerance allocation principle, the space protection distance threshold setting value of the multi-positioner is solved is represented as:

[0078]

[0079] Step S3: according to the space distance between the adjacent points of the multi-positioner at any time, the constraint condition satisfaction relationship of the cooperative motion of the large component attitude adjustment is obtained

[0080]

[0081] wherein, represents the distance between the spherical hinge centers of the three-coordinate positioner, and represents the position vector of the spherical hinge center of the different positioners in the PPPS series-parallel mechanism in the aircraft coordinate system, represents the maximum value of the space protection distance threshold setting value .

[0082] Taking the 3-PPPS series-parallel mechanism as an example, there are wherein is used to represent any two different numerical control positioners in the three numerical control positioners.

[0083] Step S4: according to the performance requirements of the large component attitude adjustment system for product deformation and key intersection, the maximum allowable position error D of the system is obtained max , and the relationship with the space protection distance threshold is used to guide the large component attitude adjustment system to complete the attitude adjustment. When , it is considered that the current large component attitude adjustment system can complete the attitude adjustment, and the space protection distance threshold is set as the cooperative motion constraint condition of the system; when , it is considered that the accuracy of the current large component attitude adjustment system cannot meet the system requirements, and the attitude adjustment cannot be completed.

[0084] 1) according to the position vector of the spherical hinge center of the three-coordinate positioner in the aircraft coordinate system , the cooperative motion constraint condition is obtained:

[0085] ​

[0086] where i, m, n represent the number of 3-PPPS serial-parallel mechanism, for example, 3-PPPS serial-parallel mechanism means i = 3. represents the distance between the ball center of the three-coordinate positioner, The vector distance segment combination mode has C(i, 2) kinds.

[0087] 2) is the position error vector generated by the ball center movement, so the actual correction position vector of the ball center of the positioner can be expressed as:

[0088]

[0089] where, Δp ix ,Δp iy ,Δp iz respectively represent the error values generated by the movement of the positioner in three directions. Therefore, the maximum spatial error generated by the ball center in three movement directions can be expressed as:

[0090]

[0091] 3) According to equation (1), the distance error vector between the ball centers of the three-coordinate positioner is simplified as:

[0092]

[0093] Since the posture adjustment only changes the spatial pose of the object, it does not affect the shape and size of the object, so the distance error value between the ball centers can be expressed as:

[0094]

[0095] 4) According to equations (3)-(4), the maximum spatial distance error between the ball centers of the positioner is expressed as:

[0096]

[0097] where when the direction of the maximum spatial positioning error vector is the same as the direction of the line connecting the ball center points on the large part, the maximum spatial distance error value is generated.

[0098] wherein the trajectory planning fitting error δf in step S1 is obtained in the following manner:

[0099] 1) The posture adjustment trajectory planning is to solve the movement trajectory of each positioner according to the initial attitude and target attitude of the vertical stabilizing surface in an interpolation manner, so that the positioner can move smoothly without sudden changes in speed;

[0100] 2) Based on the interpolation error principle, the error generated by the trajectory planning fitting method can be expressed as:

[0101]

[0102] wherein k represents the number of interpolation points of the trajectory planning, w r represents the interpolation value of the current trajectory planning, wherein 1≤r≤k, f (k) (C) represents the derivative of the interpolation function.

[0103] The trajectory planning method described above usually uses polynomial difference to plan the trajectory, such as straight line trajectory, 5th or 6th polynomial interpolation method.

[0104] The center gap error δd i is obtained in the following way:

[0105] 1) A plurality of measuring points are arranged on the surface of the ball head of the positioner, the center coordinates of the ball head in the positioner coordinate system are fitted by measuring the coordinates of the plurality of surface measuring points, and then the coordinates of the ball joint center in the aircraft coordinate system are obtained based on the conversion relationship between the positioner coordinate system and the aircraft coordinate system.

[0106] 2) According to the relationship between the theoretical center coordinates of the ball head of the positioner and the actually fitted center coordinates, the ball joint center gap error δd i of the plurality of positioners can be obtained.

[0107] The ball head center calibration measuring device described above can use high-precision measuring instruments, such as laser trackers.

[0108] Working principle: the embodiment establishes a position error model of the ball joint center of the positioner in the aircraft coordinate system, obtains a spatial protection distance threshold setting value of the plurality of positioners, and uses the threshold value as a setting value of the cooperative motion constraint condition in the actual large component attitude adjustment and fitting system. In addition, the threshold value can be used as a basis for determining whether the large component attitude adjustment and fitting system can complete the attitude adjustment, thereby improving the efficiency of the large component attitude adjustment and fitting system of the aircraft, avoiding the pulling of the large component of the aircraft or causing the product to be squeezed and deformed, and providing a basis for the scheme design of the large component attitude adjustment and fitting system.

[0109] The other parts of the embodiment are the same as those of the above-mentioned embodiment 1, and will not be described again.

[0110] Embodiment 3:

[0111] The embodiment is based on any one of the above-mentioned embodiments 1-2, and is described by taking the establishment of the aircraft coordinate system O(X, Y, Z) and the position coordinate system O T (X', Y', Z') by the laser tracker as an example.

[0112] As Figure 1 shown, a multi-positioner space protection distance threshold setting guidance method, comprising the following steps:

[0113] Step S1: Establish the position error model of the spherical hinge center of the three-coordinate positioner in the aircraft coordinate system:

[0114]

[0115] Wherein, δf,δd i respectively represent the positioner positioning error, trajectory planning fitting error, and spherical hinge center gap error.

[0116] Step S2: Using the obtained position error model and tolerance allocation principle, the space protection distance threshold setting value of the multi-positioner is calculated is expressed as:

[0117]

[0118] Step S3: According to the space distance between the adjacent points of the multi-positioner at any time, the constraint condition satisfaction relationship of the large component attitude adjustment cooperative motion can be obtained:

[0119]

[0120] Wherein, represents the maximum value of the space protection distance threshold setting value .

[0121] Step S4: According to the performance requirements of the large component attitude adjustment system for product deformation, key intersection, etc., the maximum allowable position error D max of the system can be obtained, and the relationship with the space protection distance threshold is used to guide the large component attitude adjustment system to complete the attitude adjustment. When , it is considered that the current large component attitude adjustment system can complete the attitude adjustment, and the space protection distance threshold can be set as the cooperative motion constraint condition of the system; when , it is considered that the accuracy of the current large component attitude adjustment system cannot meet the system requirements, and cannot complete the attitude adjustment.

[0122] The positioner positioning error in step S1 is obtained in the following way:

[0123] 1) The laser tracker is used to establish the aircraft coordinate system O(X, Y, Z) and the positioner coordinate system O T(X', Y', Z'), based on the rotation and translation coordinate conversion relationship, the position vectors of the ball-joint centers of the three-coordinate positioners in the aircraft coordinate system can be obtained

[0124] 2) To ensure that the motion between the three-coordinate positioners remains rigid, the cooperative motion constraint condition of the ball-joint centers of the three-coordinate positioners is:

[0125]

[0126] where i, m, and n represent the number of PPPS series-parallel mechanisms, for example, 3-PPPS series-parallel mechanism means i = 3. represents the distance between the ball-joint centers of the three-coordinate positioners, There are C(i, 2) combinations of vector distance segments.

[0127] 3) Due to the inevitable control errors, coordinate system establishment errors, and mechanical system errors of the three-coordinate positioners, the position vectors of the ball-joint centers produce errors during the posture adjustment coordination motion, where is the position error vector produced by the motion of the ball-joint center, and the actual corrected position vector of the ball-joint center of the positioner can be represented as:

[0128]

[0129] where, Δp ix ,Δp iy ,Δp iz respectively represent the error values produced by the motion of the positioner in three directions. Therefore, the maximum spatial error produced by the ball-joint center in three motion directions can be represented as:

[0130]

[0131] The Δp ix ,Δp iy ,Δp iz can be measured by high-precision measuring instruments to obtain the maximum error values produced by the motion in three directions.

[0132] 4) According to equation (1), the distance error vector between the ball-joint centers of the three-coordinate positioners can be simplified as:

[0133]

[0134] Since the posture adjustment only changes the spatial pose of the object without affecting the shape and size of the object, the distance error value between the ball-joint centers can be represented as:

[0135]

[0136] 5) According to equations (3)-(4), the maximum spatial distance error between the centers of the ball hinges of the positioners is expressed as:

[0137]

[0138] where the maximum spatial distance error value is generated when the direction of the maximum spatial positioning error vector is the same as the direction of the line connecting the ball hinge center points on the large component.

[0139] wherein the trajectory planning fitting error δf in step S1 is obtained in the following manner:

[0140] 1) The attitude adjustment trajectory planning is solved by interpolation according to the initial attitude and the target attitude of the vertical stabilizer surface to obtain the movement trajectory of each positioner, so that the positioner can move smoothly without sudden changes in speed. The initial attitude and the target attitude of the product are analyzed according to the pose fitting method, which is prior art and will not be described in detail.

[0141] 2) Based on the interpolation error principle, the error generated by the trajectory planning fitting method can be expressed as:

[0142]

[0143] where k represents the number of interpolation points of the trajectory planning, w r represents the interpolation value of the current trajectory planning, where 1≤r≤k, f (k) (C) represents the derivative of the interpolation function.

[0144] The trajectory planning method commonly uses polynomial interpolation to plan the trajectory, such as straight line trajectory, 5th or 6th polynomial interpolation method, etc.

[0145] wherein the gap error δd i between the centers of the ball hinges of the positioners in step S1 is obtained in the following manner:

[0146] 1) A laser tracker is used to set a plurality of measurement points on the surface of the ball head of each positioner, and the center coordinates of each positioner ball head in the positioner coordinate system are fitted by measuring the coordinates of the plurality of surface measurement points. Then, according to the conversion relationship between the positioner coordinate system and the aircraft coordinate system, the coordinates of the ball hinge center in the aircraft coordinate system are obtained.

[0147] 2) Due to actual machining errors, the ball head is not necessarily a standard sphere, which causes fitting errors in the calibration of the ball hinge center, so that the gap error δd i between the centers of the ball hinges of the positioners can be obtained according to the difference between the theoretical ball head center coordinates of the positioner and the actual fitted center coordinates.

[0148] The number of the plurality of measuring points is at least equal to 9, and all the measuring points cannot be on the same circumference.

[0149] Further, the center of the sphere is calibrated and the fitting method is disclosed in the prior art, and will not be described again.

[0150] The space protection distance threshold setting guidance strategy of step S4 is:

[0151] 1) The maximum value D of the position error of the system is allowed max The relationship between the maximum value of the space protection distance threshold and the cooperative motion of the large component pose adjustment is judged.

[0152] 2) When the distance threshold of each positioner satisfies , it is considered that the current large component pose adjustment system can complete the pose adjustment, and the space protection distance threshold in the system can be set to

[0153] 3) When the distance threshold of any positioner satisfies , it is considered that the accuracy of the current large component pose adjustment system does not meet the system requirements, and the pose adjustment cannot be completed. The technical personnel are guided to re-plan the path, and provide a basis for the scheme design of the large component pose adjustment system.

[0154] The allowable error D of the system position max is obtained according to the performance requirements of the large component pose adjustment system for product deformation, key intersection, etc.

[0155] The other parts of the embodiment are the same as any one of the above-mentioned embodiments 1-embodiment 2, and will not be described again.

[0156] Embodiment 4:

[0157] Based on any one of the above-mentioned embodiments 1-embodiment 3, as shown in Figure 2 , Figure 3 , a certain large component pose adjustment system constructed by a 3-PPPS series-parallel mechanism is taken as an example for illustration.

[0158] (1) Obtain the positioning error of each positioner

[0159] 1) The laser tracker is used to establish the aircraft coordinate system O(X, Y, Z) and the positioner coordinate system O T (X', Y', Z'), based on the rotation and translation coordinate conversion relationship, the position vectors of the centers of the three positioners in the aircraft coordinate system are obtained respectively as ​

[0160] As shown in Figure 2 O1 is the first positioner 1 ball hinge center, O2 is the second positioner 2 ball hinge center, and O3 is the third positioner 3 ball hinge center.

[0161] 2) To ensure the motion between the three positioners to ensure the rigidity of the body invariability, the three positioner ball hinge centers can be combined to form C(3, 2) = 3 vector distance segments. The three vector distance segments are The cooperative motion constraint conditions are respectively expressed as:

[0162]

[0163] 3) The position error vectors of the three positioner ball hinge centers generated during the cooperative motion of the posture adjustment are respectively: The actual correction position vectors of the three positioner ball hinge centers can be expressed as:

[0164]

[0165] where Δp 1x , Δp 1y , Δp 1z , Δp 2x , Δp 2y , Δp 2z , Δp 3x , Δp 3y , Δp 3z are the error values generated by the three positioners in three directions, and it can be known that the maximum spatial error generated by the three positioner ball hinge centers in three movement directions can be expressed as:

[0166]

[0167]

[0168]

[0169] 4) It can be further known that the maximum spatial distance error between the three positioner ball hinge centers can be expressed as:

[0170]

[0171]

[0172]

[0173] When the direction of the maximum spatial positioning error vector is the same as the direction of the line connecting the ball hinge center points on the large part, the maximum spatial distance error value is generated. And Δp 1x , Δp 1y , Δp1z ,Δp 2x ,Δp 2y ,Δp 2z ,Δp 3x ,Δp 3y ,Δp 3z The motion stroke of the multi-positioner can be measured by a laser tracker to obtain the error generated by the motion in three directions, and finally the maximum value of the spatial distance error can be calculated.

[0174] (2) Obtain the trajectory planning fitting error δf for each locator;

[0175] 1) Taking the 5th-order polynomial interpolation method as an example, the expression for the 5th-order polynomial interpolation method is:

[0176] f(t) = k0 + k1t + k2t 2 +k3t 3 +k4t 4 +k5t 5

[0177] 2) Using the interpolation error calculation method, the error generated by the trajectory planning method is:

[0178]

[0179] Where k represents the number of interpolation points for trajectory planning, w r This represents the interpolated value of the current trajectory planning, where 1 ≤ r ≤ k, f (k) (C) represents the derivative of the interpolation function.

[0180] Furthermore, the attitude adjustment trajectory planning method proposed in this invention is not limited to the polynomial interpolation method, but can also use other trajectory planning methods. The purpose of this invention is to guide technicians to use trajectory planning fitting errors to analyze the space protection distance threshold.

[0181] (3) Obtain the ball joint center clearance error δd for each positioner i ;

[0182] 1) Using a laser tracker, several measurement points are set on the ball head surface of the three positioners respectively. By measuring the coordinates of the measurement points on the surface, the center coordinates O of each positioner head in the positioner coordinate system are fitted. T (x,y,z), based on the transformation relationship between the locator coordinate system and the aircraft coordinate system O(x,y,z), obtain the coordinates of the ball joint center in the aircraft coordinate system;

[0183] 2) The coordinate system of the locator and the coordinate system of the aircraft satisfy the following relationship: O(x,y,z)=RO T(x, y, z) + T (R is a rotation matrix and T is a translation matrix), and the least square method is used to fit the ball head center coordinate position.

[0184] 3) Due to actual machining errors, the ball head is not necessarily a standard sphere, resulting in fitting errors in the ball joint center calibration, so that the ball joint center gap error of each positioner is δd1, δd2, δd3 respectively according to the difference between the theoretical spherical coordinates of the positioner and the actually fitted spherical center coordinates.

[0185] Wherein the number of the plurality of measurement points is at least equal to 9, and all the measurement points cannot be on the same circumference.

[0186] (4) Obtain the spatial protection distance threshold setting value of each positioner

[0187] According to the obtained positioning error, trajectory planning fitting error and ball joint center gap error of each positioner, the spatial protection threshold setting values of the three positioners can be respectively obtained based on the tolerance allocation principle:

[0188]

[0189]

[0190]

[0191] (5) According to the spatial distance generated between the three adjacent positioners at any time, it can be known that the large component attitude adjustment cooperative motion constraint condition is satisfied:

[0192]

[0193]

[0194]

[0195] (6) According to the performance requirements of the large component attitude adjustment system for product deformation and key intersection, the maximum allowable position error of the system can be obtained as D max , and the maximum values of the spatial protection distance thresholds of the cooperative motion of the three positioners obtained above are respectively

[0196] 1) When the positioner distance threshold satisfies and and , it is considered that the current large component attitude adjustment system can complete the attitude adjustment, and the spatial protection distance threshold in the system can be set as

[0197] 2) when the locator space distance threshold value any condition is met, it is considered that the current large component pose alignment system accuracy cannot meet the system requirements, and the pose alignment cannot be completed, guiding the technical personnel to re-plan the path, and providing a basis for the scheme design of the large component pose alignment system.

[0198] Working principle: the embodiment provides a space protection distance threshold value acquisition method, and the obtained space protection distance threshold value can guide the large component pose alignment collaborative motion constraint condition; and the space protection distance threshold value can be used as a basis for determining whether the large component pose alignment system can complete the pose alignment, thereby improving the efficiency of the aircraft large component pose alignment system. By establishing a position error model of the locator ball hinge center in the aircraft coordinate system, the space protection distance threshold value setting value of the multiple locators is obtained, and then according to the proposed large component pose alignment collaborative motion constraint condition, the technical personnel are guided to set the space protection distance threshold value and provide a basis for determining whether the large component pose alignment can be completed. Thus, the efficiency of the aircraft large component pose alignment system is improved, the aircraft large component is prevented from being pulled or causing product extrusion deformation, and a basis is provided for the scheme design of the large component pose alignment system.

[0199] The other parts of the embodiment are the same as any one of the above-mentioned embodiments 1-embodiment 3, and will not be repeated here.

[0200] Embodiment 5:

[0201] On the basis of any one of the above-mentioned embodiments 1-embodiment 4, the embodiment proposes a pose alignment drive system based on the space protection distance threshold value of multiple locators, including an error establishment unit, a space protection distance threshold value setting unit, a constraint setting unit, and a pose alignment unit.

[0202] The error establishment unit is used to establish a position error model of the three-coordinate locator ball hinge center in the aircraft coordinate system.

[0203] The space protection distance threshold value setting unit is used to obtain the space protection distance threshold value setting value of the multiple locators according to the position error model.

[0204] The constraint setting unit is used to set the large component pose alignment collaborative motion constraint condition according to the space protection distance threshold value setting value.

[0205] The pose alignment unit is used to drive the large component pose alignment system to complete the pose alignment according to the large component pose alignment collaborative motion constraint condition.

[0206] The embodiment further provides an electronic device, comprising a memory and a processor; the memory stores a computer program; when the computer program is executed on the processor, the multi-locator space protection distance threshold-based pose adjustment and matching method is realized.

[0207] The embodiment further provides a computer readable storage medium, which stores computer instructions; when the computer instructions are executed on the electronic device, the multi-locator space protection distance threshold-based pose adjustment and matching method is realized.

[0208] The other parts of the embodiment are the same as any one of the above embodiments 1-4, and thus will not be described again.

[0209] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification or equivalent change made according to the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. A method of pose matching driving based on a multi-locator space protection distance threshold, characterized in that, Firstly, a position error model of a spherical hinge center of a three-coordinate positioner in an aircraft coordinate system is established, secondly, a space protection distance threshold setting value of multiple positioners is obtained according to the position error model, then, a large component attitude adjustment cooperative motion constraint condition is set according to the space protection distance threshold setting value, and finally, a large component attitude adjustment matching system is driven to complete attitude adjustment matching according to the large component attitude adjustment cooperative motion constraint condition; The attitude adjustment matching method based on the space protection distance threshold of multiple positioners specifically comprises the following steps: Step S1: a position error model of a spherical hinge center of a three-coordinate positioner in an aircraft coordinate system is established according to obtained positioner positioning errors, trajectory planning fitting errors and spherical hinge center gap errors; Step S2: a space protection distance threshold setting value of multiple positioners is obtained according to the position error model and a tolerance allocation principle; Step S3: a large component attitude adjustment motion constraint condition is set according to the space protection distance threshold setting value and distances between spherical hinge centers of three-coordinate positioners; Step S4: a large component attitude adjustment matching system is driven to complete attitude adjustment according to the large component attitude adjustment motion constraint condition and an obtained maximum allowable position error value; The positioner positioning error obtained in step S1 specifically comprises the following steps: Step S11A: Establishing the aircraft coordinate system and the positioner coordinate system by using the laser tracker, and obtaining the position vector of the three-coordinate positioner spherical hinge center in the aircraft coordinate system according to the rotation and translation coordinate conversion relationship ; Step S12A: Acquire the distance between the centers of the spherical hinges of the three-coordinate positioner ; Step S13A: obtaining a position error vector of the three-coordinate positioner spherical hinge center according to the spherical hinge center motion of the three-coordinate positioner , to obtain an actual correction position vector of the three-coordinate positioner spherical hinge center ; Step S14A: Based on the actual correction position vector , the maximum spatial error generated by the movement of the spherical hinge center in three directions is obtained ; Step S15A: obtaining the distance error vector of the centers of the spherical hinges of the three-coordinate positioner according to the distances between the centers of the spherical hinges of the three-coordinate positioner Step S15B: obtaining the distance error value of the centers of the spherical hinges according to the distance error vector of the centers of the spherical hinges of the three-coordinate positioner Step S15C: obtaining the distance error value of the centers of the spherical hinges of the three-coordinate positioner according to the distance error value of the centers of the spherical hinges ; Step S16A: Obtain the distance error vector between the transformed centers of the three-coordinate positioner spherical hinges , to obtain the positioner positioning error .

2. The multi -localizer space protection distance threshold based pose alignment driving method according to claim 1, wherein, The trajectory planning fitting error obtained in step S1 specifically comprises the following steps: Step S11B: a positioner motion trajectory is obtained in an interpolation error mode according to an initial state and a target attitude of a vertical stabilizer; Step S12B: obtaining a trajectory planning fitting error generated by trajectory planning fitting according to the number of trajectory planning interpolation points and the trajectory planning interpolation values .

3. The multi -localizer space protection distance threshold based pose alignment driving method according to claim 1, wherein, The spherical hinge center gap error obtained in step S1 specifically comprises the following steps: Step S11C: a plurality of surface measurement points are arranged on a spherical head surface of the positioner; Step S12C: coordinates of the plurality of surface measurement points are measured, and a positioner theoretical spherical head center coordinate of the spherical head in a positioner coordinate system is fitted; Step S13C: an actual fitting spherical head center coordinate of the spherical hinge center in the aircraft coordinate system is obtained according to a conversion relationship between the positioner coordinate system and the aircraft coordinate system; Step S14C: Obtain the clearance error between the centers of the spherical hinges of the multi-positioner according to the relationship between the theoretical spherical head center coordinates and the actual fitted spherical head center coordinates .

4. The multi -localizer space protection distance threshold based pose alignment driving method according to claim 1, wherein, The step S4 specifically comprises the following steps: Step S41: Obtain the maximum position error allowed by the large component pose adjustment and matching system according to the product deformation parameter and the key intersection parameter set by the large component pose adjustment and matching system ; Step S42: according to the position error allowable maximum value and the spatial protection distance threshold value , driving the large component pose adjustment and closing system to complete pose adjustment, if , it is judged that the current large component pose adjustment and closing system can execute driving pose adjustment and closing, and the spatial protection distance threshold value is set as the cooperative motion constraint condition of the large component pose adjustment and closing system; if , it is judged that the accuracy of the current large component pose adjustment and closing system does not meet the requirement and cannot execute driving pose adjustment and closing.

5. A multi-locus space-guard-distance-threshold-based pose-tuning symmetrical driving system for performing the multi-locus space-guard-distance-threshold-based pose-tuning symmetrical driving method according to claim 1, characterized in that, The error establishing unit is used for establishing a position error model of a spherical hinge center of a three-coordinate positioner in an aircraft coordinate system; The space protection distance threshold setting unit is used for obtaining a space protection distance threshold setting value of multiple positioners according to the position error model; The constraint setting unit is used for setting a large component attitude adjustment cooperative motion constraint condition according to the space protection distance threshold setting value; The attitude adjustment matching unit is used for driving a large component attitude adjustment matching system to complete attitude adjustment according to the large component attitude adjustment cooperative motion constraint condition. The computer program is stored in the memory and executed on the processor, and the attitude adjustment matching method based on the space protection distance threshold of multiple positioners is realized.

6. An electronic device, comprising: ​ 7. A computer readable storage medium characterized in that, The computer readable storage medium stores computer instructions; when the computer instructions are executed on the electronic device as claimed in claim 6, the multi-locator space protection distance threshold-based pose alignment method as claimed in any one of claims 1-4 is implemented.

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