High-precision automatic hole forming method for large-slenderness-ratio easily-deformed composite part

Abstract

The invention belongs to the technical field of automatic assembling and manufacturing of radar radomes, and provides a high-precision automatic drilling method for a large-slenderness-ratio easy-to-deform composite part, aiming at the large-slenderness-ratio easy-to-deform composite part, an additional compensation value is calculated by manually marking a datum line and combining with an automatic precision compensation mechanism for camera photographing of an industrial mechanical arm, and the high-precision automatic drilling method for the large-slenderness-ratio easy-to-deform composite part is realized. And a machining platform which can flexibly move and can realize product positioning is reasonably utilized, and finally an automatic drilling scheme meeting the product drilling precision requirement is formulated. The technical problems that an existing manual drilling mode is large in labor intensity and poor in drilling precision and quality stability are solved, automatic drilling work can be completed in a high-quality mode, the stability of the drilling quality is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated assembly and manufacturing of radar antenna covers, and in particular relates to a high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio. Background Art

[0002] For radar antenna covers with integrated antenna aperture structures, manual marking and hole making are still the main means due to the complex deformation of the product surface and high requirements for hole position / aperture accuracy. Manual hole making has strong adaptability and high flexibility, but it is labor-intensive. The quality of hole making is directly related to the workers' skills, and the stability of hole making accuracy and quality is poor.

[0003] Automated hole-making systems primarily include automatic drilling and riveting machines, specialized automated hole-making systems, and lightweight automated systems. Lightweight automated hole-making systems offer a compromise between assembly efficiency, system flexibility, and equipment cost. Currently, there are three typical forms of lightweight automated assembly: industrial robotic arm-based automated hole-making systems, flexible track-based automated hole-making systems, and autonomous mobile automated hole-making systems. Industrial robotic arm-based hole-making systems utilize a general-purpose robotic arm, offering rapid development and deployment, relatively low cost, and excellent flexibility for adapting to various working conditions. However, they suffer from poor rigidity, requiring specialized precision compensation mechanisms for optimal use in aircraft assembly, and a limited working range. This invention, based on an industrial robotic arm-based automated hole-making system, utilizes a flexible, mobile machining platform (hereinafter referred to as the machining platform) that enables product positioning and a precision compensation mechanism to develop a rational process flow and method for a highly variable composite part with a high slenderness ratio. Summary of the Invention

[0004] The present invention addresses the problem that the existing manual hole-making method has high labor intensity, the hole-making quality is directly related to the workers' skills, and the hole-making accuracy and quality stability are poor. The present invention aims to solve the problem of being able to complete the automated hole-making work with high quality, improve the stability of hole-making quality, and reduce labor intensity. For products with longer lengths, the automated hole-making system of the industrial robot arm cannot meet the working range requirements. The present invention utilizes a processing platform to achieve full-range processing of products with longer lengths. For the problem that composite product parts are easy to deform and have high hole position accuracy requirements, the present invention utilizes manual reference line drawing and combines the automatic accuracy compensation mechanism of the industrial robot arm's camera to calculate the additional compensation value, and then determines the final accuracy compensation value, thereby meeting the hole-making accuracy requirements of deformed composite product parts.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A high-precision automated hole-making method for a highly deformable composite part with a large slenderness ratio comprises the following steps: After the product has completed the automatic hole-making station layout, system coordinate system calibration and unification, and hole position information offline programming, the hole-making line is manually drawn and the camera reference hole position is made; According to the programmed hole-making station, the camera hole program is run separately to take a photo of the manually made camera reference hole for positioning. The deviation between the theoretical value and the actual value of the camera hole position is used for compensation calculation to obtain the theoretical hole position compensation value involved in the hole-making of the station program. Run the hole making program, conduct trial drilling of the hole position at the station, and accurately measure the deviation between the trial drilling point and the manually drawn line as the additional compensation value. Finally, the precise compensation value of the hole position for automated hole making is obtained, added to the program, and the hole making is run; After completing the hole making operation at one station, move the product to the hole making point of the next station until the hole making operation of all stations on one side is completed; Adjust the other side of the product to the hole-making point and repeat the above steps until the hole-making operation of the entire product is completed.

[0006] As a further solution of the present invention: the manual marking of hole location lines is specifically: based on the deformed composite part that has been glued and formed, the hole location lines are marked using the web surface as the positioning reference using a marking template used for conventional manual marking and hole making.

[0007] As a further solution of the present invention: the manual production of the camera reference hole position is specifically: manually producing the camera reference hole position according to the camera reference hole specified by the offline program.

[0008] As a further solution of the present invention: the compensation operation is specifically: By taking pictures, we can obtain image data, use edge detection and circle fitting to identify the actual outline of the reference hole and calculate the pixel coordinate center; Convert the pixel coordinates into the actual coordinates of the robot arm, combine them with the theoretical coordinates, and calculate the deviation value.

[0009] As a further solution of the present invention: the calculation of the precise compensation value is specifically as follows: measuring the deviation value between the trial point and the manually drawn line as the additional compensation value, and performing geometric calculation on it with the theoretical hole position compensation value, and finally obtaining the precise compensation value of the automated hole position.

[0010] As a further solution of the present invention: a special brush in the form of a tool is required to perform dotting on the hole positions of the station.

[0011] As a further solution of the present invention: the method is implemented based on a robot arm automated hole making unit and a mobile processing platform, the mobile processing platform has a sliding mechanism, the product part is installed on the sliding mechanism, and by moving the product part, the robot arm automated hole making unit completes the hole making operation at all positions of the product part.

[0012] As a further solution of the present invention: after completing the hole making operation of the product part, it is necessary to carry out the hole making operation of the symmetrical part of the product, and use the crane to replace the sliding mechanism of the mobile processing platform with the symmetrical part fixing device to carry out the hole making cycle.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. This application can realize high-precision automated hole making for easily deformed composite parts with large aspect ratios, improve the stability of hole making quality, ensure the processing quality of delivered products, and enhance the competitiveness of the company's products.

[0014] 2. This application reduces labor intensity, can reduce labor costs, and brings certain social benefits by introducing and utilizing advanced manufacturing equipment.

[0015] 3. Existing radar radomes with integrated antenna aperture structures primarily rely on manual marking and hole making, which is labor-intensive and results in poor hole making accuracy and quality stability. Conventional industrial robotic arm automated hole making systems have a limited operating range and, for composite parts with continuous deformation, are unable to compensate for the accuracy value through a fixed strategy to produce parts that meet precision requirements. This invention utilizes an industrial robotic arm automated hole making system to produce qualified parts that meet precision requirements for highly deformable composite parts with large aspect ratios. This improves the stability of hole making quality and reduces labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a certain aircraft flap radome meeting the requirements of full-range automated hole making in the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0018] In the drawings, the same or similar reference numerals throughout the drawings represent the same or similar elements or elements having the same or similar functions. The described embodiments are only some of the embodiments of the present invention, but not all of the embodiments.

[0019] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0020] The following is combined with Figure 1 The embodiments of the present invention are described in detail.

[0021] Example 1 The present invention provides a high-precision automated hole-making method for a highly slender and easily deformable composite part, which comprises the following steps: After the product has completed the automatic hole-making station layout, system coordinate system calibration and unification, and hole position information offline programming, the hole-making line is manually drawn and the camera reference hole position is made; According to the programmed hole-making station, the camera hole program is run separately to take a photo of the manually made camera reference hole for positioning. The deviation between the theoretical value and the actual value of the camera hole position is used for compensation calculation to obtain the theoretical hole position compensation value involved in the hole-making of the station program. Run the hole making program, conduct trial drilling of the hole position at the station, and accurately measure the deviation between the trial drilling point and the manually drawn line as the additional compensation value. Finally, the precise compensation value of the hole position for automated hole making is obtained, added to the program, and the hole making is run; After completing the hole making operation at one station, move the product to the hole making point of the next station until the hole making operation of all stations on one side is completed; Adjust the other side of the product to the hole-making point and repeat the above steps until the hole-making operation of the entire product is completed.

[0022] Preferably, the manual marking of the hole location lines is specifically: based on the deformed composite part that has been glued and formed, the hole location lines are marked using a marking template used for conventional manual marking and hole making, with the web surface as the positioning reference.

[0023] Preferably, the manually making the camera reference hole position is specifically: manually making the camera reference hole position according to the camera reference hole specified by the offline program.

[0024] Preferably, the compensation operation is specifically: By taking pictures, we can obtain image data, use edge detection and circle fitting to identify the actual outline of the reference hole and calculate the pixel coordinate center; Convert the pixel coordinates into the actual coordinates of the robot arm, combine them with the theoretical coordinates, and calculate the deviation value.

[0025] Preferably, the precise compensation value calculation is specifically as follows: measuring the deviation between the trial point and the manually drawn line as the additional compensation value, and performing geometric calculation on the theoretical hole position compensation value to finally obtain the precise compensation value of the automated hole position.

[0026] Preferably, a special brush in the form of a tool is used to make a trial marking of the hole positions of the station.

[0027] Preferably, the method is implemented based on a robot arm automated hole making unit and a mobile processing platform, wherein the mobile processing platform has a sliding mechanism, and the product part is mounted on the sliding mechanism. By moving the product part, the robot arm automated hole making unit completes the hole making operation at all positions of the product part.

[0028] Preferably, after the hole making operation of the product part is completed, the hole making operation of the symmetrical part of the product needs to be carried out, and the sliding mechanism of the mobile processing platform is replaced with the symmetrical part fixing device by the crane to perform the hole making cycle.

[0029] Example 2 The present invention provides a high-precision automated hole-making method for a highly slender and easily deformable composite part, which comprises the following steps: (1) After the product part completes the layout of the automatic hole-making station, the calibration and unification of the system coordinate system, and the offline programming of the hole position information, based on the deformed composite part that has been bonded and formed, the web surface is used as the positioning reference, and the hole position line is marked using the conventional manual marking and the marking template used for hole-making. The camera reference hole position is manually made according to the camera reference hole specified in the offline program.

[0030] (2) According to the hole-making station determined by programming, the camera hole program is run separately to take a photo of the manually made camera reference hole for positioning. The deviation between the theoretical value and the actual value of the camera hole position can be used for compensation calculation to obtain the theoretical hole position compensation value involved in the hole-making of the station program.

[0031] (3) Run the hole making program, use a special tool-shaped brush to mark the hole position of the station, and accurately measure the deviation between the trial point and the manual drawing line as an additional compensation value, and finally obtain the precise compensation value of the hole position for automated hole making, add it to the program and run the hole making.

[0032] (4) After the automated drilling unit of the robotic arm completes a drilling operation at one station, it moves the sliding portion of the machining platform to the drilling point at the next station based on the flexible movement and positioning properties of the machining platform. After completing the drilling operation on one side, the sliding portion of the machining platform is transferred to the drilling point at the other side station using the crane. After completing the drilling operation on the product part, if the drilling operation on the symmetrical part of the product is required, the sliding portion of the machining platform is replaced with the symmetrical part fixing device using the crane to perform the drilling cycle.

[0033] Example 3 Taking the automated hole making of a certain aircraft flap radome as an example, the specific implementation manner of the present invention is further described.

[0034] The present invention provides a high-precision automated hole-making method for a highly slender and easily deformable composite part, which comprises the following steps: (1) After the automatic hole-making station layout, system coordinate system calibration and unification, and hole position information offline programming of a certain aircraft flap radome were completed, based on the deformed radome that had been glued and formed, the beam web surface was used as the positioning reference, and the hole position lines were marked using the conventional manual marking and marking template used for hole making. The camera reference holes were manually made according to the camera reference holes specified in the offline program.

[0035] (2) According to the hole-making station determined by programming, the camera hole program is run separately to take a photo of the manually made camera reference hole for positioning. The deviation between the theoretical value and the actual value of the camera hole position can be used for compensation calculation to obtain the theoretical hole position compensation value involved in the hole-making of the station program.

[0036] (3) Run the hole making program, use a special tool-shaped brush to mark the hole position of the station, and accurately measure the deviation between the trial point and the manual drawing line as an additional compensation value, and finally obtain the precise compensation value of the hole position for automated hole making, add it to the program and run the hole making.

[0037] (4) After the automated hole-making unit of the robotic arm completes a hole-making operation at one station, it moves the sliding part of the processing platform to the hole-making point at the next station according to the flexible movement and positioning properties of the processing platform. After completing the hole-making operation on the upper wing surface, the sliding part of the processing platform is turned to the hole-making point at the lower wing surface station by using the crane. After completing the hole-making operation on the product part, if the hole-making operation on the symmetrical part of the product is required, the sliding part of the processing platform is replaced with the symmetrical part fixing device by using the crane to perform the hole-making cycle. The specific arrangement and movement of the processing platform and the radome of a certain aircraft flap are as follows: Figure 1 shown.

[0038] So far, the purpose of the present invention has been accomplished.

[0039] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio, characterized in that: The following steps are involved: After the product has completed the automatic hole-making station layout, system coordinate system calibration and unification, and hole position information offline programming, the hole-making line is manually drawn and the camera reference hole position is made; According to the programmed hole-making station, the camera hole program is run separately to take a photo of the manually made camera reference hole for positioning. The deviation between the theoretical value and the actual value of the camera hole position is used for compensation calculation to obtain the theoretical hole position compensation value involved in the hole-making of the station program. Run the hole making program, conduct trial drilling of the hole position at the station, and accurately measure the deviation between the trial drilling point and the manually drawn line as the additional compensation value. Finally, the precise compensation value of the hole position for automated hole making is obtained, added to the program, and the hole making is run; After completing the hole making operation at one station, move the product to the hole making point of the next station until the hole making operation of all stations on one side is completed; Adjust the other side of the product to the hole-making point and repeat the above steps until the hole-making operation of the entire product is completed.

2. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: The manual marking of the hole location lines is specifically as follows: based on the deformed composite part that has been glued and formed, the hole location lines are marked using a marking template used for conventional manual marking and hole making, with the web surface as the positioning reference.

3. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: The manually making the camera reference hole position specifically includes: manually making the camera reference hole position according to the camera reference hole specified by the offline program.

4. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: The compensation operation is specifically as follows: By taking pictures, we can obtain image data, use edge detection and circle fitting to identify the actual outline of the reference hole and calculate the pixel coordinate center; Convert the pixel coordinates into the actual coordinates of the robot arm, combine them with the theoretical coordinates, and calculate the deviation value.

5. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: The precise compensation value calculation is specifically as follows: measuring the deviation between the trial point and the manually drawn line as the additional compensation value, and performing geometric calculation on the theoretical hole position compensation value to finally obtain the precise compensation value of the automated hole position.

6. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: It is necessary to use a special brush in the form of a tool to dot the holes of the station.

7. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 5, characterized in that: The method is implemented based on a robot arm automated hole making unit and a mobile processing platform. The mobile processing platform has a sliding mechanism, and the product part is mounted on the sliding mechanism. By moving the product part, the robot arm automated hole making unit completes the hole making operation at all positions of the product part.

8. The high-precision automated hole-making method for easily deformed composite parts with a large slenderness ratio according to claim 1, characterized in that: After completing the hole making operation of the product part, it is necessary to carry out the hole making operation of the symmetrical part of the product. The sliding mechanism of the mobile processing platform is replaced with the symmetrical part fixing device by the crane to carry out the hole making cycle.

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