A device and method for detecting the relative pose of two large-sized aircraft fairings.

Abstract

This invention discloses a device and method for detecting the relative pose of two large-sized aircraft canopies. The device includes a T-shaped base with its top side face flush with the docking face of the first large-sized canopy. The top side face of the T-shape has positioning holes corresponding to the connection holes of the first large-sized canopy, allowing for positioning and connection between the aligned base and the first large-sized canopy. A suction cup support is fixedly mounted on the upper surface of the base along the docking direction, along with sliders on both sides of the suction cup support. A guide rail is slidably mounted on the upper surface of the base along the docking direction via the sliders on both sides, and a first-sized ranging sensor mounted on the upper surface of the base is located on one side of the guide rail. The body is designed as a flat plate structure. The sliding component is fixedly connected to the guide rail in the docking direction. It slides along the docking direction on the upper surface of the outer base through the guide rail and the slider. A #2 distance sensor is fixedly connected to one end face of the sliding component near the docking area. The other end is provided with a bend protruding from one side, which is used to cooperate with the #1 distance sensor to measure the sliding distance of the sliding component. The suction cup support is designed as a U-shaped structure. The bottom end face of its U-shaped structure is fixedly connected to the upper surface of the outer base. A suction cup is fixedly connected to the outer end face of each of the two side walls of its U-shaped structure. After the outer base is positioned and installed, the suction cups on both sides are used to adhere the #1 large-size cover to maintain the position of the outer base and the #1 large-size cover.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of aircraft assembly and manufacturing technology, and in particular to a device and method for detecting the relative position and orientation of two large-sized aircraft fairings. Background Technology

[0002] Relative orientation detection of two different large-sized covers on an aircraft is a necessary step before the two large-sized covers are docked and assembled. The obtained data, such as shape parameters, seam gaps, and horizontal attitude, are important supports for guiding the docking of different large components and are an important means to ensure the accuracy of the relative orientation relationship between different large components.

[0003] Traditional methods for detecting the relative attitude of two large-sized domes on aircraft mainly employ laser measurement and test docking methods. Laser measurement can accurately identify the shape, end face, and horizontal attitude of the large domes, quickly guiding software algorithms and attitude adjustment mechanisms to adjust the attitude of these large components. However, its drawbacks include high cost, the need for repeated manual operation, extremely high requirements for personnel accessibility, and in many cases, even requiring personnel to step on the surface of the large domes, causing product deformation and affecting measurement accuracy. Furthermore, the constant switching of positions by operators with inadequate safety measures poses significant safety risks. Test docking methods, on the other hand, lack accurate data support, resulting in repeated docking processes and personnel repeatedly visually inspecting various parts of the large components, leading to extremely low efficiency and significantly impacting docking quality and production progress. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned technical problems. This invention provides a device and method for detecting the relative pose of two large-sized domes on an aircraft. This solves the problems of high cost, extremely high personnel accessibility requirements, and significant safety risks associated with traditional relative pose detection methods for two large-sized domes on an aircraft, such as laser measurement. In addition, the testing and docking methods are extremely inefficient, which greatly affects docking quality and production progress.

[0005] The technical solution of the present invention: In a first aspect, the present invention provides a relative posture detection device for two different large-size domes of an aircraft, comprising: an outer base 6, a sliding body 1, a guide rail 7, a #1 ranging sensor 2, a #2 ranging sensor 3, a suction cup support 5, a suction cup 4, and a limiting pin 12.

[0006] The outer base 6 has a T-shaped structure. The top side face of the T-shape of the outer base 6 is flush with the docking face of the No. 1 large-size cover 9. The top surface of the T-shape is provided with positioning holes corresponding to the connection holes of the No. 1 large-size cover 9. The outer base 6 and the No. 1 large-size cover 9 are positioned and connected for positioning. The upper surface of the outer base 6 is fixedly installed with a suction cup support 5 along the docking direction, and sliders are located on both sides of the suction cup support 5. The guide rail 7 is slidably installed in the docking direction through the sliders on both sides. The No. 1 distance sensor 2 installed on the upper surface of the outer base 6 is located on one side of the guide rail 7.

[0007] The slider 1 is configured as a flat plate structure. The slider 1 is fixedly connected to the guide rail 7 in the docking direction. It slides on the upper surface of the outer base 6 in the docking direction through the guide rail 7 and the slider. A #2 distance sensor 3 is fixedly connected to one end face of the slider 1 near the docking area. The other end is provided with a bend protruding from one side, which is used to cooperate with the #1 distance sensor 2 to measure the sliding distance of the slider 1.

[0008] The suction cup support 5 is configured as a U-shaped structure. Its bottom end face is fixedly connected to the upper end face of the outer base 6. A suction cup 4 is fixedly connected to the outer end face of each of the two side walls of its U-shaped structure. After the outer base 6 is positioned and installed, the suction cups 4 on both sides are used to adsorb the No. 1 large size cover 9 to maintain the position of the outer base 6 and the No. 1 large size cover 9.

[0009] Optionally, in the relative pose detection device for two different large-size domes of an aircraft as described above, the laser beam direction of the #1 ranging sensor 2 is consistent with the sliding direction of the slider 1. During the process of the slider 1 of the relative pose detection device mounted on the #1 large-size dome 9 approaching the #2 large-size dome 10, the #1 ranging sensor 2 measures the sliding distance in real time and provides real-time feedback on the pose of the #1 large-size dome 9 and the #2 large-size dome 10 in the docking direction.

[0010] Optionally, in the relative pose detection device for two different large-size domes of an aircraft as described above, the theoretical pose of large-size dome 9 and large-size dome 10 can be simulated at any position within the stroke range by the sliding of the slider 1 along the guide rail 7 and the real-time feedback of the sliding distance. Furthermore, the outer contour data of large-size dome 10 is measured in real time by the 2# ranging sensor 3 to evaluate the relative pose relationship between large-size dome 9 and large-size dome 10.

[0011] Optionally, in the relative pose detection device for two different large-sized aircraft fairings as described above,

[0012] The lower end face of the outer base 6 has bottom protrusions at the three ends of the T-shaped structure. The three bottom protrusions are consistent with the partial shape of the No. 1 large size cover 9, and form a close fit assembly form through the positioning and installation of the outer base 6 and the No. 1 large size cover 9.

[0013] The lower end face of the outer base 6 has a groove in the middle area, and the end face of the groove is parallel to the upper end face of the outer base 6.

[0014] Optionally, the relative pose detection device for two different large-sized aircraft fairings, as described above, further includes: a handle 8;

[0015] The handle 8 is fixedly installed on the upper end face of the slider body 1 and is used to operate the slider body 1 and the guide rail 7 to slide along the docking direction.

[0016] Optionally, in the relative pose detection device for two different large-sized aircraft fairings as described above,

[0017] Multiple sets of relative pose detection devices are positioned and installed along the circumference of the No. 1 large-size cover 9 on one side of its docking end face, and the No. 2 large-size cover 10 is fixedly placed. The theoretical docking state of the No. 1 large-size cover 9 and the No. 2 large-size cover 10 is simulated by each set of relative pose detection devices installed on the No. 1 large-size cover 9, and the docking end face and the shape of the docking area of ​​the No. 2 large-size cover 10 are measured.

[0018] Optionally, in the relative pose detection device for two different large-sized aircraft fairings as described above,

[0019] Each set of relative pose detection devices has a limiting boss protruding from one side in the middle area of ​​the upper surface of the slider body 1. A limiting pin 12 is installed in the hole of the limiting boss. It is used to adjust the distance between the 1# large size cover 9 and the 2# large size cover 10 around the docking end face by the multiple circumferentially arranged limiting pins 12 against the docking end face of the 2# large size cover 10 during the process of multiple slider bodies 1 sliding towards the 2# large size cover 10 through multiple sets of relative pose detection devices.

[0020] Secondly, embodiments of the present invention also provide a method for relative pose detection of two different large-size aircraft fairings, employing multiple relative pose detection devices as provided above for two different large-size aircraft fairings to perform the relative pose detection method on the two different large-size aircraft fairings, including:

[0021] Multiple sets of relative pose detection devices are positioned and installed circumferentially on one side of the docking end face of the No. 1 large-size cover 9, while the No. 2 large-size cover 10 is fixedly placed. The theoretical docking state of the No. 1 large-size cover 9 and the No. 2 large-size cover 10 is simulated by the relative pose detection devices circumferentially installed on the No. 1 large-size cover 9, and the docking end face and docking area of ​​the No. 2 large-size cover 10 are measured to form actual relative pose data. After comparing the measured relative pose data with the theoretical pose data, it is converted into the movement amount in the X, Y and Z directions of multiple sets of pose adjustment mechanisms used to drive the No. 1 large-size cover 9 to move to the theoretical docking position.

[0022] Optionally, the method for relative pose detection of two different large-sized aircraft fairings, as described above, specifically includes the following steps:

[0023] Step 1: Fix the 2# large size cover 10 on the special tooling, put it on the frame and roughly position the 1# large size cover 9, move the 1# large size cover 9 to a distance of 75mm from the 2# large size cover, install multiple sets of relative posture detection devices along the circumference at the docking end of the 1# large size cover 9, each relative posture detection device is positioned through the docking hole of the 1# large size cover 9 and is fixed by suction cup 4;

[0024] Step 2: Slide multiple sets of sliding parts 1 on the relative pose detection device along the docking direction, so that the limiting pins 12 on the sliding parts 1 contact the docking end face of the #2 large-size cover 10. Use the #1 distance sensor 2 to measure the movement distance of each sliding part 1 in the docking direction, and feed the movement distance value of each sliding part 1 back to the host computer. Calculate the movement amount of the multiple sets of pose adjustment mechanisms used to drive the movement of the #1 large-size cover 9 in the X, Y, and Z directions, and drive the #1 large-size cover 9 to move by the calculated movement amount until the docking end faces of the #1 large-size cover 9 and the #2 large-size cover 10 are parallel and the two docking end faces have a preset distance; wherein the docking direction is set to the X direction.

[0025] Step 3: Move the sliding body 1 on multiple sets of relative pose detection devices along the docking direction. After moving the preset distance, limit the sliding body 1 to simulate the actual docking state of the large-size cover 9 and the second large-size cover 10. Use the second distance sensor 3 on multiple sets of relative pose detection devices to measure the shape data of the second large-size cover 10 at the current position, and feed the shape data back to the host computer. Calculate the movement amount of multiple sets of attitude adjustment mechanisms used to drive the movement of the first large-size cover 9 in the Y and Z directions, and drive the first large-size cover 9 to move by the calculated movement amount until the measured shape data of multiple second large-size covers 10 are within the tolerance range of the theoretical shape data.

[0026] Step 4: Drive the 1# large-size cover 9 to the theoretical position of the docking end face of the 2# large-size cover 10 along the docking direction through multiple sets of attitude adjustment mechanisms, so that the 1# large-size cover 9 and the 2# large-size cover 10 can be docked at the docking end face, and the relative pose detection of the 1# large-size cover 9 and the 2# large-size cover 10 is completed.

[0027] The beneficial effects of this invention: This invention provides a relative attitude detection device and method for two large-sized aircraft fairings of different sizes. Multiple relative attitude detection devices are positioned circumferentially on one side of the docking end face of large-sized fairing 9 (size 1), while large-sized fairing 10 (size 2) is fixedly placed. The relative attitude detection devices circumferentially mounted on large-sized fairing 9 simulate the theoretical docking state of large-sized fairing 9 and large-sized fairing 10, and measure the docking end face and docking area shape of large-sized fairing 10 to form actual relative attitude data. The measured relative attitude data is compared with the theoretical attitude data and converted into the movement amounts in the X, Y, and Z directions of multiple attitude adjustment mechanisms used to drive large-sized fairing 9 to the theoretical docking position. The advantages of the technical solution provided by this invention include:

[0028] First, a reference positioning is formed by using positioning holes, positioning pins and the shape of the cover, and a vacuum suction cup 4 is used to fix and adsorb on the moving cover, so that the relative posture detection device can always maintain the detection state.

[0029] Second, a distance sensor is used for real-time dynamic measurement to implement detection, and the relative positional relationship between two different large-sized covers can be grasped at any time during the docking process.

[0030] Third, the detection method using a relative posture detection device avoids the back-and-forth operation of personnel during the docking process, reduces the impact of personnel trampling on product quality, and lowers safety risks. Attached Figure Description

[0031] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0032] Figure 1 This is a schematic diagram of the overall structure of the relative pose detection device for two different large-sized aircraft fairings provided in an embodiment of the present invention.

[0033] Figure 2 for Figure 1 An exploded view of the relative pose detection device for two different large-sized aircraft fairings provided in the embodiment shown;

[0034] Figure 3 To adopt Figure 1The diagram shows the installation and use of multiple sets of relative pose detection devices provided in the embodiment shown.

[0035] Figure 4 This is a schematic diagram of the pre-dock position of two different large-size fairings of an aircraft at 75mm when performing relative pose detection using the relative pose detection device provided in the embodiments of the present invention.

[0036] Figure 5 This is a schematic diagram illustrating the theoretical poses of two different large-sized fairings of an aircraft when performing relative pose detection using the relative pose detection device provided in this embodiment of the invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1. Sliding body; 2. 1# distance sensor; 3. 2# distance sensor; 4. Suction cup; 5. Suction cup support; 6. Outer base; 7. Guide rail; 8. Handle; 9. 1# large size cover; 10. 2# large size cover; 11. Relative posture detection device; 12. Limiting pin. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0040] As explained in the background section, it is necessary to perform relative pose detection before assembling two large-sized dome bodies on an aircraft. Traditional relative pose detection methods for two large-sized dome bodies have several drawbacks. First, laser measurement methods are costly, have extremely high requirements for personnel accessibility, and often require stepping on the surface of the large-sized dome body, causing product deformation that affects measurement accuracy and poses significant safety risks. Second, testing docking methods involve repeated docking processes, resulting in extremely low efficiency and significantly impacting docking quality and production progress.

[0041] As aircraft models become increasingly larger, the demand for docking different large-sized enclosures continues to grow, making the shortcomings of the two methods mentioned above increasingly apparent. To address these issues, this invention provides a device and method for detecting the relative pose of two different large-sized aircraft enclosures. By using this device and method to perform relative pose detection on two different large-sized aircraft enclosures, the relative pose of the enclosures can be checked while avoiding repeated manual operations during docking to identify the relative pose of the two enclosures. This increases the detection frequency of the relative pose data of the two different large-sized aircraft enclosures and reduces the need for repeated manual operations during the process.

[0042] The present invention provides the following specific embodiments, which can be combined with each other. For the same or similar concepts or processes, they may not be described again in some embodiments.

[0043] Figure 1 This is a schematic diagram of the overall structure of the relative pose detection device for two different large-sized aircraft fairings provided in an embodiment of the present invention. Figure 2 for Figure 1 An exploded view of the relative pose detection device for two different large-sized aircraft fairings provided in the illustrated embodiment. Figure 1 and Figure 2 As shown, the relative pose detection device provided in this embodiment of the invention includes: an outer base 6, a sliding body 1, a guide rail 7, a #1 distance sensor 2, a #2 distance sensor 3, a suction cup support 5, a suction cup 4, and a limit stop pin 12.

[0044] like Figure 1 and Figure 2 In the structure of the relative pose detection device shown, the outer base 6 is a T-shaped structure. The top side face of the T-shaped outer base 6 is flush with the docking face of the No. 1 large-size cover 9. The upper surface of the T-shaped top is provided with positioning holes corresponding to the connection holes of the No. 1 large-size cover 9. The outer base 6 and the No. 1 large-size cover 9 are positioned and connected for the alignment of the end faces. The upper surface of the outer base 6 is fixedly installed with a suction cup support 5 along the docking direction, and sliders are located on both sides of the suction cup support 5. The guide rail 7 is slidably installed in the docking direction through the sliders on both sides, and the No. 1 ranging sensor 2 installed on the upper surface of the outer base 6 is located on one side of the guide rail 7.

[0045] In this embodiment of the invention, the slider 1 is configured as a flat plate structure. The slider 1 is fixedly connected to the guide rail 7 in the docking direction. It slides on the upper surface of the outer base 6 in the docking direction through the guide rail 7 and the slider. A #2 distance sensor 3 is fixedly connected to one end face of the slider 1 near the docking area. The other end is provided with a bend protruding from one side, which is used to cooperate with the #1 distance sensor 2 to measure the sliding distance of the slider 1.

[0046] In this embodiment of the invention, the suction cup support 5 is configured as a U-shaped structure. The bottom end of the U-shaped structure is fixedly connected to the upper end of the outer base 6. A suction cup 4 is fixedly connected to the outer end of each of the two side walls of the U-shaped structure. After the outer base 6 is positioned and installed, the suction cups 4 on both sides are used to adsorb the large-size cover 9 to maintain the position of the outer base 6 and the large-size cover 9.

[0047] In one implementation of this invention, the laser beam direction of the #1 ranging sensor 2 is consistent with the sliding direction of the sliding body 1. As the sliding body 1, which is mounted on the #1 large-size cover 9 and has a relative pose detection device, approaches the #2 large-size cover 10 by sliding, the #1 ranging sensor 2 measures the sliding distance in real time and provides real-time feedback on the pose of the #1 large-size cover 9 and the #2 large-size cover 10 in the docking direction.

[0048] In one implementation of this invention, by sliding the slider 1 along the guide rail 7 and providing real-time feedback on the sliding distance, the theoretical pose of the 1# large-size cover 9 and the 2# large-size cover 10 can be simulated at any position within the stroke range of the slider 1. Furthermore, the 2# distance sensor 3 is used to measure the outline data of the 2# large-size cover 10 in real time, which is used to evaluate the relative pose relationship between the 1# large-size cover 9 and the 2# large-size cover 10.

[0049] In one embodiment of the present invention, the lower end face of the outer base 6 is provided with bottom protrusions at the three ends of the T-shaped structure. The three bottom protrusions are consistent with the partial shape of the No. 1 large size cover 9, and a fitting assembly is formed by positioning and installing the outer base 6 and the No. 1 large size cover 9.

[0050] In this implementation, a groove is provided in the middle area of ​​the lower end face of the outer base 6, and the end face of the groove is parallel to the upper end face of the outer base 6.

[0051] In one embodiment of the present invention, the relative pose detection device further includes a handle 8; the handle 8 is fixedly disposed on the upper end face of the slider 1 and is used to operate the slider 1 and the guide rail 7 to slide along the docking direction.

[0052] It should be noted that the relative pose detection device for two different large-sized aircraft fairings provided in this embodiment of the invention typically requires multiple sets of relative pose detection devices to detect the relative pose of the two different large-sized aircraft fairings during the docking process in actual use. Figure 3 As shown, this is the method of using Figure 1 The illustrated embodiment provides a schematic diagram of the installation and use of multiple sets of relative pose detection devices.

[0053] In the specific implementation, multiple sets of relative pose detection devices are installed along the circumference of the No. 1 large-size cover 9 on one side of its docking end face, and the No. 2 large-size cover 10 is fixedly placed. The theoretical docking state of the No. 1 large-size cover 9 and the No. 2 large-size cover 10 is simulated by each set of relative pose detection devices installed on the No. 1 large-size cover 9, and the docking end face and docking area of ​​the No. 2 large-size cover 10 are measured.

[0054] In specific implementation, a limiting boss protruding from one side is provided in the middle area of ​​the upper surface of the slider body 1 in each set of relative posture detection devices. A limiting pin 12 is installed in the hole of the limiting boss. It is used to adjust the distance between the 1# large size cover 9 and the 2# large size cover 10 around the docking end face by the multiple limiting pins 12 arranged around the circumference of the 2# large size cover 10 during the process of multiple slider bodies 1 passing through multiple sets of relative posture detection devices sliding to one side of the 2# large size cover 10.

[0055] Based on the relative pose detection device for two different large-size aircraft canopies provided in the above embodiments of the present invention, the present invention also provides a relative pose detection method for two different large-size aircraft canopies, specifically: using multiple relative pose detection devices for two different large-size aircraft canopies provided in the above embodiments to perform a relative pose detection method on two different large-size aircraft canopies, wherein the relative pose detection method is as follows:

[0056] Multiple sets of relative pose detection devices are positioned and installed circumferentially on one side of the docking end face of the No. 1 large-size cover 9, while the No. 2 large-size cover 10 is fixedly placed. The theoretical docking state of the No. 1 large-size cover 9 and the No. 2 large-size cover 10 is simulated by the relative pose detection devices circumferentially installed on the No. 1 large-size cover 9, and the docking end face and docking area of ​​the No. 2 large-size cover 10 are measured to form actual relative pose data. After comparing the measured relative pose data with the theoretical pose data, it is converted into the movement amount in the X, Y and Z directions of multiple sets of pose adjustment mechanisms used to drive the No. 1 large-size cover 9 to move to the theoretical docking position.

[0057] Figure 4 This is a schematic diagram of the pre-dock position of two different large-size fairings of an aircraft at 75mm when performing relative pose detection using the relative pose detection device provided in the embodiments of the present invention. Figure 5 This is a schematic diagram illustrating the theoretical poses of two different large-sized fairings of an aircraft when performing relative pose detection using the relative pose detection device provided in this embodiment of the invention. (Refer to...) Figure 4 and Figure 5 As shown, in a specific implementation, the relative pose detection method provided by the embodiments of the present invention is characterized by including the following steps:

[0058] Step 1: Fix the 2# large size cover 10 on the special tooling, put it on the frame and roughly position the 1# large size cover 9, move the 1# large size cover 9 to a distance of 75mm from the 2# large size cover, install multiple sets of relative posture detection devices 11 along the circumferential direction at the docking end of the 1# large size cover 9, each relative posture detection device 11 is positioned through the docking hole of the 1# large size cover 9 and is fixed by suction cup 4;

[0059] Step 2: Slide multiple sets of sliding bodies 1 on the relative pose detection device 11 along the docking direction, so that the limiting pins 12 on the sliding bodies 1 contact the docking end face of the #2 large-size cover 10. Use the #1 distance sensor 2 to measure the movement distance of each sliding body 1 in the docking direction, and feed the movement distance value of each sliding body 1 back to the host computer. Calculate the movement amount of the multiple sets of pose adjustment mechanisms used to drive the movement of the #1 large-size cover 9 in the X, Y, and Z directions, and drive the #1 large-size cover 9 to move by the calculated movement amount until the docking end faces of the #1 large-size cover 9 and the #2 large-size cover 10 are parallel and the two docking end faces have a preset distance; wherein the docking direction is set to the X direction.

[0060] Step 3: Move the slider 1 on the multiple sets of relative pose detection devices 11 along the docking direction. After moving the preset distance, limit the slider 1 to simulate the actual docking state of the large-size cover 9 and the second large-size cover 10. Use the second distance sensor 3 on the multiple sets of relative pose detection devices 11 to measure the shape data of the second large-size cover 10 at the current position, and feed the shape data back to the host computer. Calculate the movement amount of the multiple sets of attitude adjustment mechanisms used to drive the movement of the first large-size cover 9 in the Y and Z directions, and drive the first large-size cover 9 to move by the calculated movement amount until the measured shape data of the multiple second large-size covers 10 are within the tolerance range of the theoretical shape data.

[0061] Step 4: Drive the 1# large-size cover 9 to the theoretical position of the docking end face of the 2# large-size cover 10 along the docking direction through multiple sets of attitude adjustment mechanisms, so that the 1# large-size cover 9 and the 2# large-size cover 10 can be docked at the docking end face, and the relative pose detection of the 1# large-size cover 9 and the 2# large-size cover 10 is completed.

[0062] The relative pose detection device and method for two different large-size aircraft domes provided in this invention employs multiple relative pose detection devices positioned circumferentially on one side of the docking end face of large-size dome 9 (size 1), while large-size dome 10 (size 2) is fixedly placed. The relative pose detection devices circumferentially mounted on large-size dome 9 simulate the theoretical docking state of large-size dome 9 and large-size dome 10, and measure the docking end face and docking area shape of large-size dome 10 to form actual relative pose data. After comparing the measured relative pose data with the theoretical pose data, the data is converted into the movement amounts in the X, Y, and Z directions of multiple attitude adjustment mechanisms used to drive large-size dome 9 to the theoretical docking position. The advantages of the technical solution provided by this invention include:

[0063] First, a reference positioning is formed by using positioning holes, positioning pins and the shape of the cover, and a vacuum suction cup 4 is used to fix and adsorb on the moving cover, so that the relative posture detection device can always maintain the detection state.

[0064] Second, a distance sensor is used for real-time dynamic measurement to implement detection, and the relative positional relationship between two different large-sized covers can be grasped at any time during the docking process.

[0065] Third, the detection method using a relative posture detection device avoids the back-and-forth operation of personnel during the docking process, reduces the impact of personnel trampling on product quality, and lowers safety risks.

[0066] The following is an illustrative example illustrating the implementation of the relative pose detection device and method for two different large-sized aircraft fairings provided in this embodiment of the invention.

[0067] Implementation Example

[0068] refer to Figures 1 to 5 As shown, this embodiment of the invention provides a relative posture detection device for two large-sized aircraft canopies, including: an outer base 6, a sliding body 1, a guide rail 7, a #1 ranging sensor 2, a #2 ranging sensor 3, a suction cup support 5, a suction cup 4, a limit stop pin 12, and a handle 8.

[0069] In this implementation example, the outer base 6 has a T-shaped structure, with the T-shaped end face flush with the end face of the #1 large-size cover 9. Positioning holes corresponding to the connection holes of the #1 large-size cover 9 are provided on the T-shaped end face. The upper surface of the outer base 6 is a plane parallel to the X-direction. A guide rail 7 parallel to the X-direction connects to the slider, which in turn connects to the #1 distance sensor 2 and the suction cup support 5. The three ends of the lower surface of the outer base 6 are locally identical to and fit snugly against the shape of the #1 large-size cover 9. A groove is provided in the middle area of ​​the lower end face of the outer base 6, and the end face of the groove is parallel to the upper end face of the outer base 6. The slider 1 has a flat plate structure and is connected to the outer base 6 via the guide rail 7. One end of the near-dating area is connected to the #2 distance sensor 3, and the other end has an elbow that works with the #1 distance sensor 2 to measure the sliding distance. A limiting structure is provided in the middle area, and a handle 8 is connected to the upper surface. The suction cup support 5 has a U-shaped structure, with its bottom surface connected to the upper surface of the outer base 6, and suction cup 4 structures connected to its left and right outer ends.

[0070] In this implementation example, as the slider 1 installed on the large-size cover 9 slides closer to the large-size cover 10, the distance measuring sensor 2 measures the sliding distance in real time and provides immediate feedback on the X-axis pose of the large-size covers 1 and 2.

[0071] By using the real-time feedback of the sliding distance of the slider 1 along the X direction, the theoretical pose of the large-size covers 10#1 and 2#10# can be simulated at any position within the stroke range. The outer contour data of the large-size covers 10#10# is measured using the distance measuring sensor 3#2, and the pose relationship between the large-size covers 10#1 and 2#10# is evaluated.

[0072] In this implementation example, the relative pose detection device is used to perform a relative pose detection method on two different large-sized fairings of an aircraft, including the following steps:

[0073] 1) Fix the 2# large size cover 10 on the special tooling, put the 1# large size cover 9 on the frame and roughly position it, move the 1# large size cover 9 to a distance of 75mm from the docking end face of the 2# large size cover 10, install 6 sets of relative posture detection devices 10 around the docking area of ​​the 1# large size cover 9, the relative posture detection devices 10 are positioned by the docking holes of the 1# large size cover 9, and are fixed by suction cup 4.

[0074] 2) Slide the six sets of sliding bodies 1 on the relative posture detection device 10 along the docking direction so that the limiting pins 12 on the sliding bodies 1 contact the docking end face of the large size cover 10 of #2. Simultaneously use the distance measuring sensor 2 of #1 to measure the X-direction movement distance of each sliding body 1 and feed the distance value back to the control software program. Calculate the movement amount in the X, Y, and Z directions of the four sets of posture adjustment mechanisms that drive the movement of the large size cover 9 of #1 and manually drive them until the docking areas of the large size covers 10 of #1 and #2 are parallel and the distance between them is 75mm.

[0075] 3) Move the slider 1 on the 6 sets of relative posture detection devices 10 along the docking direction again, move it 75mm and limit it to simulate the actual docking state of the 1# and 2# large-size covers 10. Use the 2# distance sensor 3 on the 6 sets of relative posture detection devices 10 to measure the shape data of the 2# large-size cover 10 at the position respectively, and feed the distance value back to the control software program. Calculate the movement amount in the Y and Z directions of the 4 sets of posture adjustment mechanisms that drive the 1# large-size cover 9 to move, and manually drive it until the measured shape data of the 2# large-size cover 10 at 6 locations are within the tolerance range of the theoretical data.

[0076] 4) The 1# large-size cover 9 is driven along the docking direction by 4 sets of attitude adjustment mechanisms to the theoretical distance from the 2# large-size cover 10, and the relative pose detection of the 1# and 2# large-size covers 10 is completed.

[0077] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A device for detecting the relative pose of two large-sized domes of an aircraft, characterized in that, include: Outer base (6), sliding body (1), guide rail (7), 1# distance sensor (2), 2# distance sensor (3), suction cup support (5), suction cup (4), limit stop pin (12); The outer base (6) is a T-shaped structure. The top side face of the T-shaped outer base (6) is flush with the docking end face of the 1# large size cover (9). The upper surface of the T-shaped top is provided with positioning holes corresponding to the connection holes of the 1# large size cover (9) for positioning and connecting the outer base (6) and the 1# large size cover (9) with the end face aligned. The upper surface of the outer base (6) is fixedly installed with a suction cup support (5) along the docking direction, and sliders on both sides of the suction cup support (5). The guide rail (7) is slidably installed in the docking direction through the sliders on both sides, and the 1# distance sensor (2) installed on the upper surface of the outer base (6) is located on one side of the guide rail (7). The sliding body (1) is configured as a flat plate structure. The sliding body (1) is fixedly connected to the guide rail (7) in the docking direction. It slides on the upper surface of the outer base (6) in the docking direction through the guide rail (7) and the slider. A #2 distance sensor (3) is fixedly connected to one side of the sliding body (1) near the docking area. The other end is provided with a bend protruding from one side, which is used to cooperate with the #1 distance sensor (2) to measure the sliding distance of the sliding body (1). The suction cup support (5) is configured as a U-shaped structure. The bottom end face of its U-shaped structure is fixedly connected to the upper end face of the outer base (6). A suction cup (4) is fixedly connected to the outer end face of each of the two side walls of its U-shaped structure. After the outer base (6) is positioned and installed, the suction cups (4) on both sides will be used to adsorb the No. 1 large size cover (9) to maintain the position of the outer base (6) and the No. 1 large size cover (9). The laser beam direction of the 1# ranging sensor (2) is consistent with the sliding direction of the sliding body (1). When the sliding body (1) installed on the 1# large size cover (9) approaches the 2# large size cover (10) by sliding, the 1# ranging sensor (2) measures the sliding distance in real time and provides real-time feedback on the position and orientation of the 1# large size cover (9) and the 2# large size cover (10) in the docking direction. The sliding of the slider (1) along the guide rail (7) and the real-time feedback of the sliding distance are used to simulate the theoretical pose of the 1# large size cover (9) and the 2# large size cover (10) at any position within the stroke range of the slider (1). The 2# distance sensor (3) is used to measure the outline data of the 2# large size cover (10) in real time, which is used to evaluate the relative pose relationship between the 1# large size cover (9) and the 2# large size cover (10).

2. The relative pose detection device for two large-sized aircraft fairings according to claim 1, characterized in that, The lower end face of the outer base (6) is provided with bottom protrusions at the three ends of the T-shaped structure. The three bottom protrusions are consistent with the partial shape of the No. 1 large size cover (9), and form a fitting assembly form through the positioning and installation of the outer base (6) and the No. 1 large size cover (9). The lower end face of the outer base (6) has a groove in the middle area, and the end face of the groove is parallel to the upper end face of the outer base (6).

3. The relative pose detection device for two large-sized aircraft fairings according to claim 1, characterized in that, Also includes: Handle (8); The handle (8) is fixedly installed on the upper end face of the slide body (1) and is used to operate the slide body (1) and the guide rail (7) to slide along the docking direction.

4. The relative pose detection device for two different large-sized aircraft fairings according to any one of claims 1 to 3. Multiple sets of relative pose detection devices are installed along the circumference of the No. 1 large-size cover (9) on one side of its docking end face, and the No. 2 large-size cover (10) is fixedly placed. The theoretical docking state of the No. 1 large-size cover (9) and the No. 2 large-size cover (10) is simulated by each set of relative pose detection devices installed on the No. 1 large-size cover (9), and the docking end face and docking area of ​​the No. 2 large-size cover (10) are measured.

5. The relative pose detection device for two large-sized aircraft fairings according to claim 4, characterized in that, Each set of relative pose detection devices has a limiting boss protruding from one side in the middle area of ​​the upper surface of the sliding body (1). A limiting pin (12) is installed in the hole of the limiting boss. It is used to adjust the distance between the 1# large size cover (9) and the 2# large size cover (10) around the docking end face by the multiple limiting pins (12) arranged around the circumference of the sliding body (1) of the multiple sliding bodies (1) of the multiple sets of relative pose detection devices sliding towards the 2# large size cover (10).

6. A method for detecting the relative pose of two large-sized fairings of an aircraft, characterized in that, A method for performing relative pose detection on two different large-size aircraft fairings using a plurality of relative pose detection devices as provided in any one of claims 1 to 5, comprising: Multiple sets of relative pose detection devices are installed around the circumference of the No. 1 large-size cover (9) on one side of its docking end face, and the No. 2 large-size cover (10) is fixedly placed. The theoretical docking state of the No. 1 large-size cover (9) and the No. 2 large-size cover (10) is simulated by each set of relative pose detection devices installed around the No. 1 large-size cover (9), and the docking end face and docking area of ​​the No. 2 large-size cover (10) are measured to form actual relative pose data. After comparing the measured relative pose data with the theoretical pose data, it is converted into the movement amount of multiple sets of pose adjustment mechanisms in the X, Y and Z directions used to drive the No. 1 large-size cover (9) to move to the theoretical docking position.

7. The method for relative pose detection of two large-sized aircraft fairings according to claim 6, characterized in that, Specifically, the steps include the following: Step 1: Fix the 2# large size cover (10) on the special tooling, put it on the frame and roughly position the 1# large size cover (9), move the 1# large size cover (9) to a distance of 75mm from the 2# large size cover, install multiple sets of relative posture detection devices (11) along the circumferential direction at the docking end of the 1# large size cover (9), each relative posture detection device (11) is positioned through the docking hole of the 1# large size cover (9) and is fixed by suction cup (4); Step 2: Slide the sliding parts (1) on multiple sets of relative pose detection devices (11) along the docking direction so that the limiting pins (12) on the sliding parts (1) contact the docking end face of the 2# large size cover (10). Use the 1# distance sensor (2) to measure the moving distance of each sliding part (1) in the docking direction and feed back the moving distance value of each sliding part (1) to the host computer. Calculate the moving amount of multiple sets of pose adjustment mechanisms used to drive the movement of the 1# large size cover (9) in the X, Y, and Z directions. Drive the 1# large size cover (9) to move by the calculated moving amount until the docking end faces of the 1# large size cover (9) and the 2# large size cover (10) are parallel and the two docking end faces have a preset distance; wherein the docking direction is set to the X direction. Step 3: Move the slider (1) on the multiple sets of relative pose detection devices (11) along the docking direction. After moving the preset distance, limit the slider (1) to simulate the actual docking state of the large-size cover (9) and the 2# large-size cover (10). Use the 2# distance sensor (3) on the multiple sets of relative pose detection devices (11) to measure the shape data of the 2# large-size cover (10) at the current position, and feed the shape data back to the host computer. Calculate the movement amount of the multiple sets of attitude adjustment mechanisms used to drive the movement of the 1# large-size cover (9) in the Y and Z directions, and drive the 1# large-size cover (9) to move with the calculated movement amount until the measured shape data of the multiple 2# large-size covers (10) are within the tolerance range of the theoretical shape data. Step 4: Drive the 1# large size cover (9) to the theoretical position of the docking end face of the 2# large size cover (10) along the docking direction through multiple sets of posture adjustment mechanisms, so that the 1# large size cover (9) and the 2# large size cover (10) can achieve docking of the docking end face, and complete the relative posture detection of the 1# large size cover (9) and the 2# large size cover (10).

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