Aircraft automatic docking measuring pin and docking method thereof

Abstract

The invention belongs to the technical field of aircraft automatic docking, and particularly relates to an aircraft automatic docking measuring pin and a docking method thereof.A laser tracker is used for measuring the docking intersection theoretical values of a central wing and an outer wing at the initial positions of the central wing and the outer wing through a coaxial measuring pin, and posture adjustment and in-position calculation are carried out; after a docking station is calibrated, the outer wing moves to a retreating station and carries out simulation in-position, and through measurement and comparison, a docking system error is calculated and a theoretical value of a central wing docking intersection point is corrected; the outer wing returns to the docking station, and the theoretical value of the docking intersection point of the outer wing is measured again; posture adjustment, in-position angle calculation and trajectory planning are conducted through the corrected central wing butt joint intersection point theoretical value and the re-measured outer wing butt joint intersection point theoretical value, and the outer wing is driven to be successfully in position to be in butt joint with the central wing. According to the method, automatic butt joint of the wings is completed, the butt joint precision and reliability are greatly improved, and the universality of the butt joint method is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of aircraft automatic docking, and in particular relates to an aircraft automatic docking measuring pin and a docking method thereof. Background Art

[0002] Aircraft assembly is the key and core technology of aircraft development and an important part of aircraft manufacturing. The docking of large components is one of the main links in aircraft assembly, and the quality of docking largely determines the performance, production cost and manufacturing cycle of the aircraft. Among them, the docking of wings is the last assembly process before various strength tests of aircraft test pieces. However, due to the high precision requirements of new models, the harsh environment of the docking site, the lack of special docking tooling and mature process technology, wing docking often becomes one of the key technical difficulties in the development of new models of aircraft.

[0003] Traditional wing assembly technology usually uses large, fixed docking platforms to support and position the parts to be docked, and most docking platforms can only be used for parts of specific models and shapes, and are not universal. They must also rely on manual operation, resulting in low assembly efficiency, assembly quality and assembly cycle. With the development of aircraft assembly technology, flexible, digital and automated docking platforms built with integrated advanced manufacturing technology are currently widely used in wing assembly in China and abroad, which greatly improves the quality and efficiency of docking assembly and has good versatility; however, the versatility of aircraft wing assembly tooling and wing automated docking systems currently commonly used in my country is still relatively poor, with a long design and manufacturing cycle, high development cost, poor openness, and single application, which makes it difficult to meet the development needs of aircraft under the multi-variety and small-batch production model. Summary of the invention

[0004] Purpose of the invention: In order to solve the above problems, the present invention provides an aircraft automated docking measuring pin and a docking method thereof, so as to realize precise and automatic docking of a center wing and an outer wing.

[0006] An aircraft automated docking measuring pin, the measuring pin is cylindrical, with standard laser measuring holes at both ends and a shaft shoulder in the middle;

[0007] The difference between the outer end faces of the two standard laser measuring holes and the center line of the shaft shoulder is a fixed value, which is equal to the theoretical distance difference between the inner surface of the outer ear piece of the central wing double-ear joint and the inner surface of the ear piece of the outer wing single-ear joint in the wing-matched state;

[0008] When measuring the central wing, screw the measuring pin into the coaxial hole of the central wing double-ear joint, and at the same time, press the shaft shoulder against the inner surface of the outer ear piece, and measure the theoretical value of the butt intersection point of the central wing double-ear joint through the laser measuring hole of the measuring pin on the inner side of the double-ear joint;

[0009] When measuring the outer wing, screw the measuring pin into the hole of the outer wing single-ear joint in reverse, and at the same time, press the shaft shoulder against the inner surface of the ear piece. Measure the theoretical value of the butt intersection point of the outer wing single-ear joint through the laser measuring hole of the measuring pin on the inner side of the single-ear joint.

[0010] Furthermore, the theoretical value of the butt joint intersection point of the central wing double-ear joint coincides with the theoretical value of the butt joint intersection point of the single-ear joint.

[0011] An automated docking method for an aircraft, for docking an outer wing and a center wing of an aircraft, is implemented based on a measuring pin and comprises the following steps:

[0012] 1) Select the docking station for the outer wing components, move the vehicle-mounted attitude adjustment platform to position 1, and lift the outer wing components to the docking station;

[0013] 2) Establish the docking system reference coordinate system at the central wing laser measurement station, select laser measurement station one, and at laser measurement station one, align the docking system reference coordinate system with the vehicle-mounted attitude adjustment platform coordinate system one according to the virtual coordinate system calibration method;

[0014] 3) At the laser station, use the measuring pin to measure the theoretical value Z1 of the intersection point of each double-ear joint of the central wing;

[0015] 4) Select the second laser measurement station for measuring the outer wing and re-establish the reference coordinate system;

[0016] 5) At laser station 2, use the measuring pin to measure the theoretical value Y1 of the intersection point of each single-ear joint of the outer wing;

[0017] 6) Calculate the attitude adjustment angle and the displacement according to the theoretical value of the central wing docking intersection point Z1 and the theoretical value of the outer wing docking intersection point Y1, and perform the attitude adjustment of the outer wing component angle;

[0018] 7) Recording data N1 of position 1 of the vehicle-mounted attitude adjustment platform;

[0019] 8) Move the vehicle-mounted posture adjustment platform back a fixed distance to the vehicle-mounted posture adjustment platform position 2, and record the data N2 of position 2;

[0020] 9) According to the displacement calculated in 6), the vehicle-mounted attitude adjustment platform is driven to simulate the positioning of the outer wing components, and at the second laser station, the intersection value D1 of each single ear joint after the outer wing is simulated in position is measured;

[0021] 10) combining N2 in 8) and D1 in 9) into a set of points, and performing fitting conversion with the N1 point set in 7) to obtain the docking intersection value D2 after the outer wing is simulated in position one;

[0022] 11) Compare the docking intersection value D2 of the outer wing after the simulated insertion obtained in 10) with the theoretical value Y1 of the outer wing docking intersection in 5) to obtain the docking system error;

[0023] 12) Select the docking laser measurement station 3, re-establish the reference coordinate system, calculate the system error compensation according to the theoretical value Z1 of the central wing docking intersection point in 3) and the docking system error in 11), and correct the theoretical value Z2 of the final docking intersection point of the central wing;

[0024] 13) Move the vehicle-mounted attitude adjustment platform to position one again, and lift the outer wing component to the docking station; at the laser station three, use the measuring pin to measure the theoretical value Y2 of the final docking intersection of each single ear joint of the outer wing;

[0025] 14) According to the corrected theoretical value of the final docking intersection point between the central wing and the outer wing, the corrected exit attitude adjustment angle and entry displacement are calculated, and the outer wing component angle attitude adjustment is performed;

[0026] 15) After calculating the insertion angle and planning the insertion trajectory, the outer wing is driven into position to complete the docking of the single-ear and double-ear joint hole pins on the central wing and the outer wing.

[0027] Furthermore, in 1), the vehicle-mounted attitude adjustment platform carries and fixes the outer wing components through the installed distributed CNC positioners and transition protection brackets, and the CNC positioner control system performs outer wing attitude adjustment.

[0028] Further, in 2), the virtual coordinate system calibration method process is as follows:

[0029] 1) Establish a virtual coordinate system in the laser measurement software SA;

[0030] 2) In the virtual coordinate system, the vehicle-mounted attitude adjustment platform moves 200 mm in the X, Y, and Z axes with the load, and accurately calculates the angle between the same axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system;

[0031] 3) Rotate the virtual coordinate system along the ZYZ or ZXZ axes in turn by the angles between the axes with the same name;

[0032] 4) Repeat steps 2) and 3) until the same-name axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system are calibrated to be completely parallel;

[0033] 5) Translate the origin of the virtual coordinate system to the coordinate system of the vehicle-mounted attitude adjustment platform to achieve complete unification of the two coordinate systems.

[0034] Furthermore, in 6), when calculating the attitude adjustment angle and the displacement into position, the 840DSL control system of the German SIEMENS company is used to realize the multi-axis linkage control of the vehicle-mounted attitude adjustment platform, and realize the calculation of the attitude adjustment angle and the displacement into position.

[0035] Furthermore, in 6), the attitude adjustment process is a distributed virtual multi-axis conversion method based on the Siemens control system; the distributed virtual multi-axis conversion method refers to multiple parallel moving parts realizing multi-axis linkage attitude adjustment through a unique conversion calculation, so that the moving parts can be positioned and guided, and can convert and execute the results of the calculation of all axes participating in the movement in real time; the axes of several vehicle-mounted attitude adjustment platforms participating in the attitude adjustment are fitted into a virtual six-degree-of-freedom transformation in space, and the best approach path for determining the attitude is provided.

[0036] Further, in 7), the position of the vehicle-mounted posture adjustment platform is recorded in the following manner:

[0037] At laser station 2, record the fitting reference point N1 obtained by prefabricated laser measurement standard hole on the outer wing component bracket of the vehicle-mounted attitude adjustment platform.

[0038] Furthermore, in 8), the retreat distance is not less than 200 mm; the retreat is to avoid interference and collision caused by directly placing the product at this time, and the retreat can be selected to any position that does not affect the relative relationship between the attitude adjustment platform and the outer wing components.

[0039] Further, in 15), the method for calculating the insertion angle is as follows: in the reference coordinate system of the docking system, the end point of the axis of the outer wing single-ear joint is measured using a laser measuring pin, the axis and its normal plane are constructed, and the insertion angle is converted and solved using a spatial geometry method; the insertion displacement and insertion angle of the outer wing component are calculated according to the position of the vehicle-mounted attitude adjustment platform, and the vehicle-mounted attitude adjustment platform control system is used to write a G code to complete the docking trajectory design and drive it to complete the insertion.

[0040] The beneficial effects of this application are:

[0041] The present invention solves the problem of different measurement reference surfaces of the central wing and the outer wing through the design of coaxial measuring pins, ensures accurate compensation of the axial direction of the docking hole, and thus meets the unification of theoretical values ​​of docking intersections measured under different references; the present invention measures the theoretical value of alignment under the reference coordinate system of the docking system, and docks the coordinate system under the reference coordinate system, thereby reducing the number of coordinate system fitting conversions, thereby reducing the error of restoring the coordinate system, and greatly improving the docking accuracy; the present invention adopts a method of fitting and error compensation in SA of the measured alignment data of the outer wings and the central wing at different positions, which effectively reduces the comprehensive error caused by factors such as the rigidity of the mobile equipment and the theoretical error compensation of digital simulation, reduces the docking error, and improves the docking reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the coaxial measuring pin structure for automated docking of aircraft wings;

[0043] Figure 2 It is a partial schematic diagram of the ear hole pin of the aircraft wing docking fork;

[0044] Figure 3 This is the flow chart for wing automated docking;

[0045] Figure 4 This is an overall schematic diagram of the aircraft wing docking system;

[0046] Figure 4 In: 1. Central wing component; 2. Outer wing component; 3. Transition protection bracket; 4. CNC positioner; 5. AGV vehicle; 6. Laser tracker. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0048] The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0049] A coaxial measuring pin for automatic docking of aircraft wings is designed as a two-end structure according to the fork-ear-hole pin structure of the wing docking joint, with standard laser measuring holes provided at both ends and a shaft shoulder provided in the middle. With the center line of the middle shaft shoulder as the boundary, the distance difference between the outer end faces of the two standard laser measuring holes and the center line of the shaft shoulder is a fixed value, which is equal to the theoretical distance difference between the inner surface of the outer ear piece of the central wing double-ear joint and the inner surface of the ear piece of the outer wing single-ear joint in the wing matching state. When measuring the central wing, the measuring pin is screwed into the coaxial hole of the central wing double-ear joint, and the shaft shoulder is pressed against the inner surface of the outer ear piece, and the theoretical value of the docking intersection of the central wing double-ear joint is measured through the laser measuring hole of the measuring pin in the inner direction of the double-ear joint; when measuring the outer wing, the measuring pin is screwed into the hole of the outer wing single-ear joint in the opposite direction, and the shaft shoulder is pressed against the inner surface of the ear piece, and the theoretical value of the docking intersection of the outer wing single-ear joint is measured through the laser measuring hole of the measuring pin in the inner direction of the single-ear joint. Ensure that the theoretical positions of the intersection points of the central wing and outer wing joints are consistent during measurement.

[0050] The use of the coaxial measuring pins to automatically mate the center wing and outer wing components using a laser tracker includes the following steps:

[0051] 1) Select the docking position of the outer wing components: the outer wing components are lifted by the vehicle-mounted attitude adjustment platform to the docking position;

[0052] 2) Establish the docking system reference coordinate system at the central wing laser measurement station: Select the laser station 1 for measuring the central wing, and establish the docking system reference coordinate system according to the virtual coordinate system calibration method, so that it is consistent with the vehicle-mounted attitude adjustment platform coordinate system;

[0053] 3) Measure the theoretical value Z1 of the central wing docking intersection point: Under laser station 1, use the designed measuring pin to measure the theoretical value Z1 of the docking intersection point of each double-ear joint of the central wing;

[0054] 4) Restore the reference coordinate system at the outer wing laser measurement station: Select the laser measurement station 2 for measuring the outer wing and re-establish the reference coordinate system;

[0055] 5) Measure the theoretical value Y1 of the outer wing butt intersection point: At laser station 2, use the designed measuring pin to measure the theoretical value Y1 of the butt intersection point of each single-ear joint of the outer wing;

[0056] 6) Attitude adjustment of outer wing components: Calculate the attitude adjustment angle and displacement according to the theoretical value of the intersection point between the central wing and the outer wing, and perform the attitude adjustment of the outer wing components;

[0057] 7) Measure the outer wing fitting reference point N1: record the vehicle-mounted attitude adjustment platform position 1 selected in 1), and measure the outer wing fitting reference point N1 at the position 1) under the laser station 2;

[0058] 8) Measure the outer wing fitting reference point N2 after moving: Move the vehicle-mounted attitude adjustment platform back a fixed distance to the vehicle-mounted attitude adjustment platform position 2, and measure the outer wing fitting reference point N2 at this moment under the laser station 2;

[0059] 9) Measure the docking intersection value D1 of the outer wing after simulated positioning: According to the positioning displacement calculated in 6), drive the vehicle-mounted attitude adjustment platform to simulate the positioning of the outer wing components, and measure the docking intersection value D1 of each single ear joint after the outer wing is simulated in position under the laser station 2;

[0060] 10) Calculate the intersection point value D2 of the outer wing after the simulation is in place: combine N2 in 8) and D1 in 9) into a set of points, and perform fitting conversion with the point set N1 in 7) to obtain the intersection point value D2 of the outer wing after the simulation is in place in the position 1);

[0061] 11) Calculate the docking system error: Compare the docking intersection value D2 of the outer wing after the simulation is in place obtained in 10) with the theoretical value Y1 of the outer wing docking intersection in 5) to obtain the docking system error, and convert the docking compensation value:

[0062] δ i =k×(D2-Y1) (1)

[0063] Among them, δ i is the calculated compensation value, and k is the compensation coefficient.

[0064] 12) Correct the theoretical value Z2 of the final docking intersection of the central wing: Select docking laser measurement station 3 and restore the reference coordinate system. According to 3) the theoretical value Z1 of the docking intersection of the central wing and the docking system error in 11), calculate the system error compensation and correct the theoretical value Z2 of the final docking intersection of the central wing:

[0065] Z2=Z1+δ i (2)

[0066] 13) Measure the theoretical value Y2 of the final docking intersection of the outer wing: At laser station 3, use the designed measuring pin to measure the theoretical value Y2 of the final docking intersection of each single-ear joint of the outer wing;

[0067] 14) Calculate the corrected attitude adjustment angle and displacement: Calculate the attitude adjustment angle and displacement according to the corrected theoretical value of the final docking intersection between the central wing and the outer wing, and perform the angle attitude adjustment of the outer wing component;

[0068] 15) Execute the docking of the central wing and the outer wing: After calculating the insertion angle and planning the insertion trajectory, drive the outer wing into position to complete the docking of each set of single and double ear joint hole pins on the central wing and the outer wing.

[0069] Furthermore, the theoretical value of the butt intersection point refers to the measured value of the overlap point of each group of butt joints of the central wing and the outer wing components under the theoretical butt joint state measured with the aid of measuring pins before butt jointing.

[0070] Furthermore, the outer wing structure is supported by a vehicle-mounted attitude adjustment platform, and its specific structure is that the AGV platform carries and fixes the outer wing structure through the distributed CNC positioner and transition protection bracket installed thereon, and the platform is equipped with a CNC positioner control system, which can adjust the attitude of the outer wing components.

[0071] Furthermore, the virtual coordinate system calibration method is specifically as follows: 1) establishing a virtual coordinate system in the laser measurement software SA;

[0072] 2) In the virtual coordinate system, the vehicle-mounted attitude adjustment platform moves 200 mm in the X, Y, and Z axes with the load, and accurately calculates the angle between the same axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system;

[0073] 3) Rotate the virtual coordinate system along the ZYZ or ZXZ axes in turn by the angles between the axes with the same name;

[0074] 4) Repeat steps 2) and 3) until the same-name axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system are calibrated to be completely parallel (the angle between the axes is ≤ 0.01°);

[0075] 5) Translate the origin of the virtual coordinate system to the coordinate system of the vehicle-mounted attitude adjustment platform to achieve complete unification of the two coordinate systems.

[0076] Furthermore, the posture adjustment angle and the in-place displacement are calculated by the CNC positioner control system. The CNC positioner control system refers to the CNC positioner control system that adopts the 840DSL control system of the German SIEMENS company, based on the PROFINET bus, to realize the multi-axis linkage control of the vehicle-mounted positioner, which can realize the posture adjustment angle and the in-place displacement solution.

[0077] Furthermore, the outer wing attitude adjustment is performed through the CNC positioner, and the attitude adjustment process is based on the distributed virtual multi-axis function of the Siemens control system. Distributed virtual multi-axis conversion technology refers to the multi-axis linkage attitude adjustment technology that multiple parallel moving parts realize through a unique conversion calculation, which enables the moving parts to be positioned and guided, and can convert and execute the results of the calculation of all axes involved in the movement in real time. This conversion is to fit the axes of several positioners involved in the attitude adjustment into a virtual six-degree-of-freedom transformation in space, and provide the best approach path to determine the attitude.

[0078] Further, the outer wing fitting reference point refers to a fitting reference point obtained by measuring a laser measurement standard hole prefabricated on the outer wing component bracket.

[0079] Furthermore, the vehicle-mounted attitude adjustment platform retreats a fixed distance to avoid interference and collision caused by directly placing the product at this time, and can be retreated to any position that does not affect the relative relationship between the attitude adjustment platform and the outer wing components.

[0080] Furthermore, the calculation of the insertion angle is as follows: in the reference coordinate system of the docking system, the end points of the joint axis are measured using a laser measuring pin, the axis and its normal plane are constructed, and the insertion angle is accurately solved using a spatial geometry method.

[0081] Furthermore, the insertion trajectory is planned to drive the outer wing component into position. Specifically, the insertion displacement and insertion angle of the outer wing component are calculated according to the position of the vehicle-mounted attitude adjustment platform, and the CNC positioner control system is used to write the G code to complete the docking trajectory design and drive it to complete the insertion.

[0082] Example

[0083] In an actual docking of aircraft wings, the aircraft automated docking measuring pins and docking methods are used, and the laser tracker is used to measure the theoretical values ​​of the four docking intersections of the central wing and the outer wing at the docking stations of the central wing and the outer wing using coaxial measuring pins, and the attitude adjustment and positioning calculations are performed; after the docking station is calibrated, the outer wing components are simulated for positioning, and the docking system errors are calculated through measurement comparison and the theoretical values ​​of the central wing docking intersections are corrected; in this state, attitude adjustment and positioning angle calculations and trajectory planning are performed, and positioning is successful. The specific steps are:

[0084] 1) Select the docking position of the outer wing components: the outer wing components are lifted by the vehicle-mounted attitude adjustment platform to the docking position;

[0085] 2) Establish the docking system reference coordinate system at the central wing laser measurement station: Select the laser station 1 for measuring the central wing, and establish the docking system reference coordinate system according to the virtual coordinate system calibration method, so that it is consistent with the vehicle-mounted attitude adjustment platform coordinate system;

[0086] The reference coordinate system is rotated in three steps around the Z axis, Y axis and Z axis in sequence, where the calculated rotation angle is RZ = artan (1.3421 / -0.7343) = -61.3157°

[0087] RY=arctan(-1.5298 / 59.9831)=-1.4610°

[0088] RZ=arctan(122.9816 / 67.7660)=61.1441°

[0089] 3) Measure the theoretical value Z1 of the central wing docking intersection point: Under laser station 1, use the designed measuring pin to measure the theoretical value Z1 of the central 4 sets of double-ear joint docking intersection points;

[0090] Z1-205(x:8448.4216;y:1442.2554;z:4390.4906);

[0091] Z1-208(x:8451.5101;y:1080.6239;z:4214.3248);

[0092] Z1-211(x:7546.0616;y:1431.3980;z:4372.7068);

[0093] Z1-214 (x:7515.7050; y: 1129.9328; z: 4225.3570).

[0094] 4) Restore the reference coordinate system at the outer wing laser measurement station: Select the laser measurement station 2 for measuring the outer wing and re-establish the reference coordinate system;

[0095] 5) Measure the theoretical value Y1 of the outer wing butt intersection point: At laser station 2, use the designed measuring pin to measure the theoretical value Y1 of the butt intersection point of the four groups of single-ear joints on the outer wing;

[0096] Y1-205(x:8479.9117;y:1287.6523;z:4493.2446);

[0097] Y1-208(x:8486.8045;y:924.1623;z:4321.0191);

[0098] Y1-211(x:7578.1912;y:1276.9483;z:4455.4496);

[0099] Y1-214 (x:7550.9303; y: 973.9387; z: 4310.7739).

[0100] 6) Adjustment of the outer wing components: The adjustment angle and the displacement are calculated based on the theoretical value of the intersection point between the central wing and the outer wing, and the outer wing components are adjusted in angle;

[0101] Adjustment angle: α: 1.275° β: 0.614° γ: 0.034

[0102] Displacement in position: Δx: 114.7010 Δy: -76.2730 Δz: 102.2720

[0103] 7) Measure the outer wing fitting reference point N1: record the vehicle-mounted attitude adjustment platform position 1 selected in 1), and measure the outer wing fitting reference point N1 at the position 1) under the laser station 2;

[0104] N1-ERS1(x:8430.2673;y:1257.5684;z:4427.8930);

[0105] N1-ERS2 (x:7525.5384; y: 963.2789; z: 4214.2578).

[0106] 8) Measure the outer wing fitting reference point N2 after moving: Move the vehicle-mounted attitude adjustment platform back a fixed distance to the vehicle-mounted attitude adjustment platform position 2, and measure the outer wing fitting reference point N2 at this moment under the laser station 2;

[0107] N2-ERS1(x:8230.2853;y:1257.5381;z:4427.9003);

[0108] N2-ERS2(x:7325.5893;y:963.2710;z:4214.2498).

[0109] 9) Measure the docking intersection value D1 of the outer wing after simulated positioning: According to the positioning displacement calculated in 6), drive the vehicle-mounted attitude adjustment platform to simulate the positioning of the outer wing components, and measure the docking intersection value D1 of each single ear joint after the outer wing is simulated in position under the laser station 2;

[0110] D1-205(x:8248.1263;y:1442.5782;z:4390.4873);

[0111] D1-208(x:8251.2577;y:1080.7053;z:4214.2146);

[0112] D1-211(x:7346.3439;y:1431.6711;z:4372.5291);

[0113] D1-214 (x:7315.5790; y: 1130.0042; z: 4225.3757).

[0114] 10) Calculate the intersection point value D2 of the outer wing after the simulation is in place: combine N2 in 8) and D1 in 9) into a set of points, and perform fitting conversion with the point set N1 in 7) to obtain the intersection point value D2 of the outer wing after the simulation is in place in the position 1);

[0115] D2-205(x:8448.1237;y:1442.5763;z:4390.4811);

[0116] D2-208(x:8451.2543;y:1080.7019;z:4214.2133);

[0117] D2-211(x:7546.3444;y:1431.6702;z:4372.5208);

[0118] D2-214 (x:7515.5722; y: 1130.0021; z: 4225.3751).

[0119] 11) Calculate the docking system error: Compare the docking intersection value D2 of the outer wing after the simulation is in place obtained in 10) with the theoretical value Y1 of the outer wing docking intersection in 5) to obtain the docking system error, and convert the docking compensation value:

[0120] 205 docking compensation value: δx: 0.2979 δy: -0.3209 δz: 0.0095

[0121] 208 docking compensation value: δx: 0.2558 δy: -0.0780 δz: 0.1115

[0122] 211 docking compensation value: δx: -0.2828 δy: -0.2722 δz: 0.1860

[0123] 214 docking compensation value: δx: 0.1328 δy: -0.0693 δz: -0.0181

[0124] 12) Correct the theoretical value Z2 of the final docking intersection of the central wing: Select docking laser measurement station 3 and restore the reference coordinate system. According to 3) the theoretical value Z1 of the docking intersection of the central wing and the docking system error in 11), calculate the system error compensation and correct the theoretical value Z2 of the final docking intersection of the central wing:

[0125] Z2-205(x:8448.7195;y:1441.9345;z:4390.5001);

[0126] Z2-208(x:8451.7659;y:1080.5459;z:4214.4363);

[0127] Z2-211(x:7545.7788;y:1431.1258;z:4372.8928);

[0128] Z2-214 (x:7515.8378; y: 1129.8635; z: 4225.3389).

[0129] 13) Measure the theoretical value Y2 of the final docking intersection of the outer wing: At laser station 3, use the designed measuring pin to measure the theoretical value Y2 of the final docking intersection of each single-ear joint of the outer wing;

[0130] Y2-205(x:8479.9112;y:1287.6539;z:4493.2401);

[0131] Y2-208(x:8486.8079;y:924.1653;z:4321.0208);

[0132] Y2-211(x:7578.1937;y:1276.9481;z:4455.4477);

[0133] Y2-214 (x:7550.9299; y: 973.9389; z: 4310.7743).

[0134] 14) Calculate the corrected attitude adjustment angle and displacement: Calculate the attitude adjustment angle and displacement according to the corrected theoretical value of the final docking intersection between the central wing and the outer wing, and perform the angle attitude adjustment of the outer wing component;

[0135] Adjustment angle: α: 1.273° β: 0.617° γ: 0.003

[0136] Displacement in position: Δx: 114.6320 Δy: -76.1300 Δz: 102.1610

[0137] 15) Execute the docking of the central wing and the outer wing: After calculating the insertion angle and planning the insertion trajectory, drive the outer wing into position to complete the docking of each set of single and double ear joint hole pins on the central wing and the outer wing.

[0138] Insertion angle: arcsin(76.13 / 102.161)=48.17°.

[0139] See also Figure 1-2 A coaxial measuring pin for automatic docking of aircraft wings is designed as a two-end structure according to the fork-ear-hole pin structure of the wing docking joint. Standardized laser measuring holes are respectively provided at both ends, and a shaft shoulder is provided in the middle. The center line of the middle shaft shoulder is used as the boundary. The distance difference between the outer end faces of the two standard laser measuring holes and the center line of the shaft shoulder is a fixed value. This fixed value is equal to the theoretical distance difference between the inner surface of the outer ear piece of the central wing double-ear joint and the inner surface of the ear piece of the outer wing single-ear joint in the wing docking state, that is, Figure 1 When measuring the central wing, screw the measuring pin into the coaxial hole of the central wing double-ear joint, and at the same time, press the shaft shoulder against the inner surface of the outer ear piece. The laser measuring hole on the inner side of the double-ear joint is used to measure the intersection point of the central wing double-ear joint. That is, Figure 1 Measuring point A in the center wing measurement state; when measuring the outer wing, screw the measuring pin into the outer wing single-ear joint hole in the opposite direction, and at the same time, press the shaft shoulder against the inner surface of the ear piece, and measure the theoretical value of the butt intersection of the outer wing single-ear joint through the laser measuring hole of the measuring pin on the inner side of the single-ear joint, that is, measuring point A in the outer wing measurement state. Ensure that the theoretical positions of the butt intersections of the center wing and the outer wing joints are consistent during measurement.

[0140] See also Figure 3 , a measuring pin for automatic docking of an aircraft and a docking method thereof, wherein a laser tracker is used to measure the theoretical values ​​of the docking intersection points of the central wing and the outer wing at the docking positions of the central wing and the outer wing respectively using coaxial measuring pins, and attitude adjustment and positioning calculation are performed; after the docking position is calibrated, the positioning of the outer wing components is simulated, and the docking system error is calculated through measurement comparison and the theoretical value of the central wing docking intersection point is corrected; in this state, attitude adjustment and positioning angle calculation and trajectory planning are performed, and positioning is successful.

[0141] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0142] Through the description of the above implementation modes, those skilled in the art can clearly understand that the above implementation modes can be implemented by means of software plus a necessary general hardware platform, and of course by means of hardware, but in many cases the former is a better implementation mode. The above describes the embodiments of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the above specific implementation modes, which are merely illustrative and not restrictive. Under the enlightenment of the present invention, those skilled in the art can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. An aircraft automated docking measuring pin, characterized in that: The measuring pin is cylindrical, with standard laser measuring holes at both ends and a shaft shoulder in the middle; The difference between the outer end faces of the two standard laser measuring holes and the center line of the shaft shoulder is a fixed value, which is equal to the theoretical distance difference between the inner surface of the outer ear piece of the central wing double-ear joint and the inner surface of the ear piece of the outer wing single-ear joint in the wing-matched state; When measuring the central wing, screw the measuring pin into the coaxial hole of the central wing double-ear joint, and at the same time, press the shaft shoulder against the inner surface of the outer ear piece, and measure the theoretical value of the butt intersection point of the central wing double-ear joint through the laser measuring hole of the measuring pin on the inner side of the double-ear joint; When measuring the outer wing, screw the measuring pin into the hole of the outer wing single-ear joint in reverse, and at the same time, press the shaft shoulder against the inner surface of the ear piece. Measure the theoretical value of the docking intersection of the outer wing single-ear joint through the laser measuring hole of the measuring pin on the inner side of the single-ear joint.

2. The measuring pin according to claim 1, characterized in that The theoretical value of the butt intersection point of the double-ear joint of the central wing coincides with the theoretical value of the butt intersection point of the single-ear joint.

3. An automated docking method for docking an outer wing and a center wing of an aircraft, implemented based on the measuring pin according to any of the preceding claims, characterized in that: The following steps are involved: 1) Select the docking station for the outer wing components, move the vehicle-mounted attitude adjustment platform to position 1, and lift the outer wing components to the docking station; 2) Establish the docking system reference coordinate system, select the laser measurement station one, and calibrate the docking system reference coordinate system with the vehicle-mounted attitude adjustment platform coordinate system one at the laser measurement station according to the virtual coordinate system calibration method; 3) At the laser station, use the measuring pin to measure the theoretical value Z1 of the intersection point of each double-ear joint of the central wing; 4) Select the second laser measurement station for measuring the outer wing and re-establish the reference coordinate system; 5) At laser station 2, use the measuring pin to measure the theoretical value Y1 of the intersection point of each single-ear joint of the outer wing; 6) Calculate the attitude adjustment angle and the displacement according to the theoretical value of the central wing docking intersection point Z1 and the theoretical value of the outer wing docking intersection point Y1, and perform the attitude adjustment of the outer wing component angle; 7) Recording data N1 of position 1 of the vehicle-mounted attitude adjustment platform; 8) Move the vehicle-mounted posture adjustment platform back a fixed distance to the vehicle-mounted posture adjustment platform position 2, and record the data N2 of position 2; 9) According to the displacement calculated in 6), the vehicle-mounted attitude adjustment platform is driven to simulate the positioning of the outer wing components, and at the second laser station, the intersection value D1 of each single ear joint after the outer wing is simulated in position is measured; 10) combining N2 in 8) and D1 in 9) into a set of points, and performing fitting conversion with the N1 point set in 7) to obtain the docking intersection value D2 after the outer wing is simulated in position one; 11) Compare the docking intersection value D2 of the outer wing after the simulated insertion obtained in 10) with the theoretical value Y1 of the outer wing docking intersection in 5) to obtain the docking system error; 12) Select the docking laser measurement station 3, re-establish the reference coordinate system, calculate the system error compensation according to the theoretical value Z1 of the central wing docking intersection point in 3) and the docking system error in 11), and correct the theoretical value Z2 of the final docking intersection point of the central wing; 13) Move the vehicle-mounted attitude adjustment platform to position one again, and lift the outer wing component to the docking station; at the laser station three, use the measuring pin to measure the theoretical value Y2 of the final docking intersection of each single ear joint of the outer wing; 14) According to the corrected theoretical value of the final docking intersection point between the central wing and the outer wing, the corrected attitude adjustment angle and the in-position displacement are calculated, and the angle attitude adjustment of the outer wing component is performed; 15) After calculating the insertion angle and planning the insertion trajectory, the outer wing is driven into position to complete the docking of the single-ear and double-ear joint hole pins on the central wing and the outer wing.

4. The method according to claim 3, characterized in that 1), the vehicle-mounted attitude adjustment platform carries and fixes the outer wing components through the installed distributed CNC positioner and transition protection bracket, and the CNC positioner control system performs the outer wing attitude adjustment.

5. The method according to claim 3, characterized in that: 2), the virtual coordinate system calibration method process is as follows: 1) Establish a virtual coordinate system in the laser measurement software SA; 2) In the virtual coordinate system, the vehicle-mounted attitude adjustment platform moves 200 mm in the X, Y, and Z axes with the load, and accurately calculates the angle between the same axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system; 3) Rotate the virtual coordinate system along the ZYZ or ZXZ axes in turn by the angles between the axes with the same name; 4) Repeat steps 2) and 3) until the same-name axes of the virtual coordinate system and the vehicle-mounted attitude adjustment platform coordinate system are calibrated to be completely parallel; 5) Translate the origin of the virtual coordinate system to the coordinate system of the vehicle-mounted attitude adjustment platform to achieve complete unification of the two coordinate systems.

6. The method according to claim 3, characterized in that: 6), when calculating the attitude adjustment angle and the displacement, the 840DSL control system of the German SIEMENS company is used to realize the multi-axis linkage control of the vehicle-mounted attitude adjustment platform and realize the calculation of the attitude adjustment angle and the displacement.

7. The method according to claim 3, characterized in that 6), the attitude adjustment process is based on the distributed virtual multi-axis conversion method of the Siemens control system; the distributed virtual multi-axis conversion method refers to the realization of multi-axis linkage attitude adjustment by multiple parallel moving parts through a unique conversion calculation, so that the moving parts can be positioned and guided, and can convert and execute the results of the calculation of all axes participating in the movement in real time; the axes of several vehicle-mounted attitude adjustment platforms participating in the attitude adjustment are fitted into a virtual six-degree-of-freedom transformation in space, and the best approach path for determining the attitude is provided.

8. The method according to claim 3, characterized in that 7), the method of recording the position of the vehicle-mounted posture adjustment platform is as follows: At laser station 2, record the fitting reference point N1 obtained by prefabricated laser measurement standard hole on the outer wing component bracket of the vehicle-mounted attitude adjustment platform.

9. The method according to claim 3, characterized in that: 8) The retreat distance shall not be less than 200 mm.

10. The method according to claim 3, characterized in that 15), the insertion angle is calculated as follows: in the docking system reference coordinate system, the end point of the outer wing single-ear joint axis is measured by a laser measuring pin, the axis and its normal plane are constructed, and the insertion angle is converted and solved by a spatial geometry method; the insertion displacement and insertion angle of the outer wing component are calculated according to the position of the vehicle-mounted attitude adjustment platform, and the G code is written using the vehicle-mounted attitude adjustment platform control system to complete the docking trajectory design and drive it to complete the insertion.

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