A blind hole and lead hole forming process method for a closed area non-permanent wall

Abstract

The application discloses a blind hole guide hole drilling process method for an indefinite wall of a closed area, measures and positions a positioning hole at a position of a composite wall of the closed area, corrects an actual drilling hole position through a hole position correction algorithm, verifies a hole edge distance and a hole spacing through dotting on the composite wall, then restores an outer cladding wallboard, finally accurately drills holes according to the corrected hole position, realizes the drilling process of the wing closed area, realizes the explicitness of the positioning hole position, accurately positions, improves the drilling efficiency and correctness of the closed area, and reduces the risk of hole position deviation caused by the fact that the hole position cannot be directly observed by manual work.

Description

Technical Field

[0001] This invention belongs to the technical field of assembly hole making, specifically relating to a method for making blind holes in closed areas with variable walls. Background Technology

[0002] The aircraft structure is a sealed structure formed by connecting the outer components to the frame structure. Manufacturing this sealed structure requires numerous connectors to link the outer components to the frame structure, and a crucial step in this connection process is simultaneously drilling holes in both the outer components and the frame structure. In traditional assembly, positioning holes are typically manually traced from the frame, and then, using these positioning holes as a reference, a drilling jig is installed before drilling is performed in that area. However, the integrated wall panel structure combines the composite wall and external components into a single structural unit. This means that the positions of the composite wall and short ribs can only be determined after the lower wall panel is installed. At this point, the external wall panel and the frame form a closed area. Within this closed area, the positions of the holes in the composite wall cannot be directly observed manually, making it impossible to create pre-connection holes using pilot holes. Furthermore, due to the manufacturing characteristics of composite materials, the coordinated positioning of the external wall panel varies from unit to unit, and the positions of the short ribs in the composite wall are also variable. Therefore, the current method of manually creating holes is based on the frame position and using a self-made template for positioning. However, because the closed structure makes it impossible to directly and accurately determine the position of the composite wall in the enclosed compartment, there is a risk of hole position deviations, insufficient hole edge distances, and the creation of figure-eight holes. Additionally, considering the material properties of the composite wall, its weak rigidity makes it prone to deformation, potentially leading to situations where the positioning is accurate but the hole is misaligned during drilling.

[0003] In existing digital assembly systems, structures are typically positioned using locating holes. By marking points on these holes or installing process bolts, the digital assembly system identifies these points or bolts, performs normal vector correction, and calculates all hole positions within the area. This hole position data is then transmitted to the actuator to perform the hole-making process. However, for composite material walls with unpredictable locations, the method of using process bolts for locating hole identification cannot be used, as it cannot guarantee the accuracy of the hole positions and positioning. Furthermore, due to the narrow edge of the composite material wall, there is a risk that the hole edge distance may not meet the requirements for normal vector correction by the digital assembly system.

[0004] Therefore, in view of the above-mentioned defects in the existing technology, the present invention discloses a method for drilling blind holes in a closed area with variable walls. Summary of the Invention

[0005] This invention discloses a method for drilling blind holes in enclosed variable walls. It can identify the location of positioning markers on composite wall structures where it is impossible to directly drill holes from the frame to the wall panel, and correct the deviation to the theoretical position of the connecting hole on the surface of the outer wall panel, thereby ensuring the accuracy and stability of drilling blind holes in enclosed variable walls.

[0006] This invention is achieved through the following technical solution:

[0007] A method for creating blind holes in enclosed, variable-wall structures, based on an end effector of a digital assembly system, to identify marker point locations on composite walls where it is impossible to directly guide holes from the frame to the wall panel, includes the following steps:

[0008] Step 1: Adjust and correct the positioning step difference of the composite wall;

[0009] Step 2: Mark the positioning holes uniformly on the composite wall and plan the marking path for the positioning holes;

[0010] Step 3: The end effector of the digital assembly system checks whether the unified positioning hole identifier and positioning hole identifier path in Step 2 are qualified according to the positioning hole identifier information. If they are qualified, proceed to Step 4; if they are not qualified, return to Step 2 to re-plan the unified positioning hole identifier and positioning hole identifier path.

[0011] Step 4: Perform simulation plotting verification of the positioning holes based on the unified identification of the positioning holes in Step 3. If the verification is successful, proceed to Step 5. If the verification fails, repeat Step 2-Step 3.

[0012] Step 5: Based on the positioning hole mapping results in Step 4, mount the outer wall panel onto the composite wall.

[0013] Step 6: Correct the hole-making normal of the outer wall panel, and make holes in the outer wall panel based on the correction result.

[0014] To better realize the present invention, step 1 further includes:

[0015] Step 1.1: Establish a reference coordinate system with the wing span as the X-axis, the heading as the Y-axis, and the direction perpendicular to the wing skin as the Z-axis;

[0016] Step 1.2: Based on the reference coordinate system, check the Y-direction step difference of the composite wall. Let ν be the actual Y-direction step difference of the composite wall, and let δY1 be the allowable Y-direction coordination and positioning tolerance of the composite wall. If ν≤δY1, then proceed to step 1.3. Otherwise, the Y-direction coordination and positioning of the composite wall needs to be re-performed until the Y-direction step difference requirement is met.

[0017] Step 1.3: Based on the reference coordinate system, check the gap between the composite wall and the surrounding fixed frame parts in the X direction. Let μ be the actual gap of the composite wall in the X direction, and let δX1 be the allowable X-direction coordination and positioning tolerance. If μ≤δX1, then proceed to step 1.4. Otherwise, the composite wall needs to be repositioned in the X direction until the gap requirement in the X direction is met.

[0018] Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Let ω be the actual Z-axis step difference of the composite wall, and let δZ1 be the allowable Z-axis coordination positioning tolerance. After adding pads in the Z-axis, if ω≤δZ1, the positioning step difference adjustment of the composite wall is completed. Otherwise, the Z-axis coordination positioning of the composite wall needs to be redone until the Z-axis step difference requirement is met.

[0019] To better realize the present invention, step 2 further includes:

[0020] Step 2.1: Determine the positioning holes at the enclosed area of ​​the composite wall for identification by the end effector of the digital assembly system;

[0021] Step 2.2: Remove the positioning holes where the normal vector cannot be perpendicular to both the composite wall surface and the external wall panel, as well as the positioning holes located on the curved edge of the composite wall.

[0022] Step 2.3: Identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information;

[0023] Step 2.4: Based on the position and normal of the positioning hole, plan the positioning hole marking path so that the attitude change of the end effector of the digital assembly system is minimized when it moves along the planned positioning hole marking path.

[0024] To better realize the present invention, step 3 further includes:

[0025] Step 3.1: Based on the unified marking of the positioning holes, affix reflective marking points to the composite wall;

[0026] Step 3.2: The end effector of the digital assembly system determines whether the hole edge distance of the positioning hole meets the requirements based on the position of the marker point. If the hole edge distance requirement is met, proceed to step 3.3; otherwise, redetermine the positioning hole.

[0027] Step 3.3: Obtain the coordinates and deflection angle of the reflective marking points through the end effector of the digital assembly system, and use this as the actual position data of the positioning holes;

[0028] Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, export the actual position data of the positioning hole; if the position of the positioning hole is not qualified, correct the position of the positioning hole.

[0029] To better realize the present invention, step 3.2 is further defined as follows: let the diameter of the connecting standard at the positioning hole be d. If both D1≥2d+1 and D2≥2d+1 are satisfied, then the hole edge distance of the positioning hole is determined to meet the requirements; where D1 represents the front hole edge distance of the positioning hole and D2 represents the rear hole edge distance of the positioning hole.

[0030] To better realize the present invention, step 3.4 is further defined as follows:

[0031] Step 3.4.1: Detect the actual position data of the positioning hole to obtain the actual hole position coordinates;

[0032] Step 3.4.2: Calculate the difference between the actual hole position coordinates and the theoretical hole position coordinates of the positioning hole;

[0033] Step 3.4.3: Calculate the allowable deviation of the positioning holes;

[0034] Step 3.4.4: Compare the difference calculated in step 3.4.2 with the allowable deviation to determine whether the position of the positioning hole is qualified.

[0035] To better realize the present invention, step 4 further includes:

[0036] Step 4.1: Plot points in the closed area of ​​the composite wall according to the hole-making information, and group the plotted points;

[0037] Step 4.2: Using the actual position data of the positioning holes exported in Step 3 as a reference, detect the hole positions of the same group on the composite wall;

[0038] Step 4.3: If all hole positions in the same group are qualified, output the final hole positions; if there is at least one qualified plotting point in the same group, correct the positions of the remaining plotting points based on the qualified plotting point position; if all plotting points in the same group are unqualified, redetermine the positioning holes and re-plot the points.

[0039] To better realize the present invention, step 5 further includes:

[0040] Step 5.1: Before laying the exterior wall panels, re-check the positioning status of the composite wall. If the positioning status of the composite wall is qualified, proceed to step 5.2. If the positioning status of the composite wall is not qualified, repeat steps 1-4.

[0041] Step 5.2: Based on the plotting results in Step 4, hoist the external wall panel onto the composite wall to form a closed area, and pre-connect the external wall panel.

[0042] To better realize the present invention, step 6 further includes:

[0043] Step 6.1: Based on the plotting results in Step 4, detect the actual deflection angle between the axis of the hole at the plotting point and the outer wall panel;

[0044] Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.3; if the actual deflection angle is greater than the deflection tolerance angle, re-plot the hole.

[0045] Step 6.3: Drill holes in the outer wall panel and composite wall based on the hole-making information.

[0046] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0047] (1) The present invention first measures and positions the positioning holes at the location of the composite wall in the closed area, and corrects the actual hole position through the hole position correction algorithm. The hole edge distance and hole spacing are verified by plotting points on the composite wall. Then the outer wall panel is restored. Finally, the hole is accurately made according to the corrected hole position, realizing the hole making process of the wing closed area, realizing the explicit positioning of the positioning hole position, accurately positioning, improving the efficiency and accuracy of hole making in the closed area, and reducing the risk of hole position deviation caused by the inability of manual observation of the hole position;

[0048] (2) With the method provided by the present invention, workers do not need to make their own templates for each flight to make holes, and do not need to repeatedly hoist the outer wall panel to check the hole position after making holes. Workers can make holes directly through the points on the outer wall panel, or make holes digitally, which improves the stability of hole making and reduces repetitive operations. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the process steps of the present invention. Detailed Implementation

[0050] Example 1:

[0051] This embodiment presents a blind hole drilling process for enclosed, variable-wall structures, implemented using an end effector of a digital assembly system. This method aims to identify marker points on composite walls where direct drilling from the frame to the wall panel is not possible. Figure 1 As shown, it includes the following steps:

[0052] Step 1: Adjust and correct the positioning step difference of the composite wall;

[0053] Step 2: Mark the positioning holes uniformly on the composite wall and plan the marking path for the positioning holes;

[0054] Step 3: The end effector of the digital assembly system checks whether the unified positioning hole identifier and positioning hole identifier path in Step 2 are qualified according to the positioning hole identifier information. If they are qualified, proceed to Step 4; if they are not qualified, return to Step 2 to re-plan the unified positioning hole identifier and positioning hole identifier path.

[0055] Step 4: Perform simulation plotting verification of the positioning holes based on the unified identification of the positioning holes in Step 3. If the verification is successful, proceed to Step 5. If the verification fails, repeat Step 2-Step 3.

[0056] Step 5: Based on the positioning hole mapping results in Step 4, mount the outer wall panel onto the composite wall.

[0057] Step 6: Correct the hole-making normal of the outer wall panel, and make holes in the outer wall panel based on the correction result.

[0058] Furthermore, step 1 specifically includes:

[0059] Step 1.1: Establish a reference coordinate system with the wing span as the X-axis, the heading as the Y-axis, and the direction perpendicular to the wing skin as the Z-axis;

[0060] Step 1.2: Based on the reference coordinate system, check the Y-direction step difference of the composite wall. Let ν be the actual Y-direction step difference of the composite wall, and let δY1 be the allowable Y-direction coordination and positioning tolerance of the composite wall. If ν≤δY1, then proceed to step 1.3. Otherwise, the Y-direction coordination and positioning of the composite wall needs to be re-performed until the Y-direction step difference requirement is met.

[0061] Step 1.3: Based on the reference coordinate system, check the gap between the composite wall and the surrounding fixed frame parts in the X direction. Let μ be the actual gap of the composite wall in the X direction, and let δX1 be the allowable X-direction coordination and positioning tolerance. If μ≤δX1, then proceed to step 1.4. Otherwise, the composite wall needs to be repositioned in the X direction until the gap requirement in the X direction is met. After adjusting the gap in the X direction, check whether the connection position of the composite wall is accurate and whether the connectors are tightened to ensure that the rigidity of the composite wall meets the requirements and will not deform.

[0062] Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Let ω be the actual Z-axis step difference of the composite wall, and let δZ1 be the allowable Z-axis coordination positioning tolerance. After adding pads in the Z-axis, if ω≤δZ1, the positioning step difference adjustment of the composite wall is completed. Otherwise, the Z-axis coordination positioning of the composite wall needs to be redone until the Z-axis step difference requirement is met.

[0063] Furthermore, step 2 specifically includes:

[0064] Step 2.1: Determine the positioning holes in the enclosed area of ​​the composite wall for identification by the end effector of the digital assembly system. The positioning holes are set in the enclosed area of ​​the composite wall by prefabrication or drawing.

[0065] Step 2.2: Remove the positioning holes whose normal vectors cannot be perpendicular to both the composite wall surface and the outer wall panel, as well as the positioning holes located on the curved edge of the composite wall, to avoid the positioning holes being unrecognizable due to the inability of the end effector of the digital assembly system to correct the posture.

[0066] Step 2.3: Identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information. The positioning hole information includes the interlayer material information at the positioning hole, the positioning hole location information, and the connecting parts information at the positioning hole, etc.

[0067] Step 2.4: Based on the position and normal of the positioning hole, plan the positioning hole marking path so that the attitude change of the digital assembly system end effector is minimized when it moves along the planned positioning hole marking path, and ensure that the digital assembly system end effector can make fine adjustments in the X and Z directions when it moves along the planned positioning hole marking path.

[0068] The corresponding NC program is generated according to the planned positioning hole identification path and positioning hole information. The NC program is used to control the positioning hole photo recognition system on the end effector of the digital assembly system to identify the hole position and normal direction of the positioning hole. Considering the edge strip width of the composite wall, the NC program does not perform normal correction, but the end effector of the digital assembly system can deflect according to the curved surface of the composite wall, i.e., the X and Z directions.

[0069] Furthermore, step 3 specifically includes:

[0070] Step 3.1: Based on the unified marking of the positioning holes, affix reflective marking points to the composite wall;

[0071] Step 3.2: The end effector of the digital assembly system determines whether the hole edge distance of the positioning hole meets the requirements based on the position of the marker point. If the hole edge distance requirement is met, proceed to step 3.3; otherwise, redetermine the positioning hole.

[0072] Step 3.3: Obtain the coordinates and deflection angle of the reflective marking points through the end effector of the digital assembly system, and use this as the actual position data of the positioning holes;

[0073] Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, export the actual position data of the positioning hole; if the position of the positioning hole is not qualified, correct the position of the positioning hole.

[0074] Furthermore, step 3.2 specifically includes:

[0075] Let the diameter of the connecting standard at the positioning hole be d. If both D1≥2d+1 and D2≥2d+1 are satisfied, then the hole edge distance of the positioning hole is deemed to meet the requirements. Where D1 represents the front hole edge distance of the positioning hole and D2 represents the rear hole edge distance of the positioning hole.

[0076] Furthermore, step 3.4 specifically includes:

[0077] Step 3.4.1: Detect the actual position data of the positioning hole to obtain the actual hole position coordinates; specifically, based on the reference coordinate system, detect the actual X coordinate, actual Y coordinate, and actual Z coordinate of the positioning hole.

[0078] Step 3.4.2: Calculate the difference between the actual and theoretical coordinates of the positioning hole; that is, ΔX = |Xs-Xl|, ΔY = |Ys-Yl|, ΔZ = |Zs-Zl|, where: ΔX represents the difference between the actual and theoretical X coordinates of the positioning hole; ΔY represents the difference between the actual and theoretical Y coordinates of the positioning hole; ΔZ represents the difference between the actual and theoretical Z coordinates of the positioning hole; Xs represents the actual X coordinate of the positioning hole; Ys represents the actual Y coordinate of the positioning hole; Zs represents the actual Z coordinate of the positioning hole; Xl represents the theoretical X coordinate of the positioning hole; Yl represents the theoretical Y coordinate of the positioning hole; Zl represents the theoretical Z coordinate of the positioning hole.

[0079] Step 3.4.3: Calculate the allowable deviation of the positioning hole; the allowable deviation includes the allowable deviation δX in the X direction, the allowable deviation δY in the Y direction, and the allowable deviation δZ in the Z direction.

[0080] δX = δX1 + δX2 + δX3, where: δX1 represents the allowable X-direction coordinated positioning tolerance; δX2 represents the X-direction manufacturing tolerance; and δX3 represents the X-direction positioning error.

[0081] δY = δY1 + δY2 + δY3 + δY4, where: δY1 represents the allowable Y-direction coordinated positioning tolerance; δY2 represents the Y-direction manufacturing distance tolerance; δY3 represents the error caused by the angular limit deviation in the Y-direction; and δY4 represents the Y-direction positioning error.

[0082] δZ = δZ1 + δZ2 + δZ3 + δZ4, where: δZ1 represents the allowable Z-axis coordinated positioning tolerance; δZ2 represents the skin thickness at the Z-axis positioning hole; δZ3 represents the Z-axis part thickness tolerance; and δZ4 represents the Z-axis positioning error.

[0083] Step 3.4.4: Compare the difference calculated in Step 3.4.2 with the allowable deviation to determine whether the position of the positioning hole is qualified. If ΔX≤δX, ΔY≤δY, and ΔZ≤δZ are all satisfied simultaneously, then the current positioning hole position is considered qualified; if any one of ΔX>δX, ΔY>δY, and ΔZ>δZ is satisfied, then:

[0084] If ΔZ>δZ, check the step difference ω between the composite wall and the fixed frame. If ω≤δZ, add shims as required. If ω>δZ1, the hole position cannot be used.

[0085] If ΔY>δY, first check whether the connection position between the composite wall and the surrounding fixed frame is accurate and whether the connectors are tightened to ensure that the rigidity of the composite wall meets the requirements and will not deform. If the requirements are met, check whether the step difference ν between the composite wall and the pre- and post-flight parts is ≤δY. If the requirements are not met, the composite wall needs to be re-coordinated and repositioned. Otherwise, the composite wall cannot be drilled according to this process method.

[0086] If ΔX > δX, then the composite wall needs to be repositioned and coordinated.

[0087] Furthermore, step 4 specifically includes:

[0088] Step 4.1: Plot points in the closed area of ​​the composite wall according to the hole-making information, and group the plotted points;

[0089] Step 4.2: Using the actual position data of the positioning holes exported in Step 3 as a reference, detect the hole positions of the same group on the composite wall;

[0090] Step 4.3: If all hole positions in the same group are qualified, output the final hole positions; if there is at least one qualified plotting point in the same group, correct the positions of the remaining plotting points based on the qualified plotting point position; if all plotting points in the same group are unqualified, redetermine the positioning holes and re-plot the points.

[0091] Let the diameter of the connecting part at the plotting point be d1, and the hole edge distance at the plotting point be Dm. If Dm ≥ 2d1 + 1, the plotting point is considered qualified and the hole can be made; if Dm < 2d1 + 1, the plotting point is unqualified.

[0092] Furthermore, step 5 specifically includes:

[0093] Step 5.1: Before laying the exterior wall panels, re-check the positioning status of the composite wall. If the positioning status of the composite wall is qualified, proceed to step 5.2. If the positioning status of the composite wall is not qualified, repeat steps 1-4.

[0094] Step 5.2: Based on the plotting results in Step 4, hoist the external wall panel onto the composite wall to form a closed area, and pre-connect the external wall panel.

[0095] Furthermore, step 6 specifically includes:

[0096] Step 6.1: Based on the plotting results in Step 4, detect the actual deflection angle between the axis of the hole at the plotting point and the outer wall panel;

[0097] Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.3; if the actual deflection angle is greater than the deflection tolerance angle, re-plot the hole.

[0098] Step 6.3: Drill holes in the outer wall panel and composite wall based on the hole-making information.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for creating blind holes in enclosed, variable-wall structures, based on an end effector of a digital assembly system, to identify marker points on composite walls where it is impossible to directly guide holes from the frame to the wall panel, characterized in that... Includes the following steps: Step 1: Adjust and correct the positioning step difference of the composite wall; Step 2: Mark the positioning holes uniformly on the composite wall and plan the marking path for the positioning holes; Step 3: The end effector of the digital assembly system checks whether the unified positioning hole identifier and positioning hole identifier path in Step 2 are qualified according to the positioning hole identifier information. If they are qualified, proceed to Step 4; if they are not qualified, return to Step 2 to re-plan the unified positioning hole identifier and positioning hole identifier path. Step 4: Perform simulation plotting verification of the positioning holes based on the unified identification of the positioning holes in Step 3. If the verification is successful, proceed to Step 5. If the verification fails, repeat Step 2-Step 3. Step 5: Based on the positioning hole mapping results in Step 4, mount the outer wall panel onto the composite wall. Step 6: Correct the hole-making normal of the outer wall panel, and make holes in the outer wall panel based on the correction result.

2. The method for drilling blind holes in a closed area with variable walls according to claim 1, characterized in that, Step 1 specifically includes: Step 1.1: Establish a reference coordinate system with the wing span as the X-axis, the heading as the Y-axis, and the direction perpendicular to the wing skin as the Z-axis; Step 1.2: Based on the reference coordinate system, check the Y-direction step difference of the composite wall. Let ν be the actual Y-direction step difference of the composite wall, and let δY1 be the allowable Y-direction coordination and positioning tolerance of the composite wall. If ν≤δY1, then proceed to step 1.

3. Otherwise, the Y-direction coordination and positioning of the composite wall needs to be re-performed until the Y-direction step difference requirement is met. Step 1.3: Based on the reference coordinate system, check the gap between the composite wall and the surrounding fixed frame parts in the X direction. Let μ be the actual gap of the composite wall in the X direction, and let δX1 be the allowable X-direction coordination and positioning tolerance. If μ≤δX1, then proceed to step 1.

4. Otherwise, the composite wall needs to be repositioned in the X direction until the gap requirement in the X direction is met. Step 1.4: Based on the reference coordinate system, check the Z-axis step difference of the composite wall. Let ω be the actual Z-axis step difference of the composite wall, and let δZ1 be the allowable Z-axis coordination positioning tolerance. After adding pads in the Z-axis, if ω≤δZ1, the positioning step difference adjustment of the composite wall is completed. Otherwise, the Z-axis coordination positioning of the composite wall needs to be redone until the Z-axis step difference requirement is met.

3. The method for drilling blind holes in a closed area with variable walls according to claim 2, characterized in that, Step 2 specifically includes: Step 2.1: Determine the positioning holes at the enclosed area of ​​the composite wall for identification by the end effector of the digital assembly system; Step 2.2: Remove the positioning holes where the normal vector cannot be perpendicular to both the composite wall surface and the external wall panel, as well as the positioning holes located on the curved edge of the composite wall. Step 2.3: Identify and number the positioning holes, and establish a mapping between the identification numbers and the positioning hole information; Step 2.4: Based on the position and normal of the positioning hole, plan the positioning hole marking path so that the attitude change of the end effector of the digital assembly system is minimized when it moves along the planned positioning hole marking path.

4. The method for drilling blind holes in a closed area with an uncertain wall, as described in claim 3, is characterized in that... Step 3 specifically includes: Step 3.1: Based on the unified marking of the positioning holes, affix reflective marking points to the composite wall; Step 3.2: The end effector of the digital assembly system determines whether the hole edge distance of the positioning hole meets the requirements based on the position of the marker point. If the hole edge distance requirement is met, proceed to step 3.3; otherwise, redetermine the positioning hole. Step 3.3: Obtain the coordinates and deflection angle of the reflective marking points through the end effector of the digital assembly system, and use this as the actual position data of the positioning holes; Step 3.4: Compare the actual position data of the positioning hole with the theoretical position data of the positioning hole to determine whether the position of the positioning hole is qualified. If the position of the positioning hole is qualified, export the actual position data of the positioning hole; if the position of the positioning hole is not qualified, correct the position of the positioning hole.

5. The method for drilling blind holes in a closed area with an uncertain wall according to claim 4, characterized in that, Step 3.2 specifically involves: Let the diameter of the connecting standard at the positioning hole be d. If both D1≥2d+1 and D2≥2d+1 are satisfied, then the hole edge distance of the positioning hole is deemed to meet the requirements. Where D1 represents the front hole edge distance of the positioning hole and D2 represents the rear hole edge distance of the positioning hole.

6. The method for drilling blind holes in a closed area with an uncertain wall according to claim 4, characterized in that, Step 3.4 specifically involves: Step 3.4.1: Detect the actual position data of the positioning hole to obtain the actual hole position coordinates; Step 3.4.2: Calculate the difference between the actual hole position coordinates and the theoretical hole position coordinates of the positioning hole; Step 3.4.3: Calculate the allowable deviation of the positioning holes; Step 3.4.4: Compare the difference calculated in step 3.4.2 with the allowable deviation to determine whether the position of the positioning hole is qualified.

7. The method for drilling blind holes in a closed area with variable walls according to claim 4, characterized in that, Step 4 specifically includes: Step 4.1: Plot points in the closed area of ​​the composite wall according to the hole-making information, and group the plotted points; Step 4.2: Using the actual position data of the positioning holes exported in Step 3 as a reference, detect the hole positions of the same group on the composite wall; Step 4.3: If all hole positions in the same group are qualified, output the final hole positions; if there is at least one qualified plotting point in the same group, correct the positions of the remaining plotting points based on the qualified plotting point position; if all plotting points in the same group are unqualified, redetermine the positioning holes and re-plot the points.

8. The method for drilling blind holes in a closed area with an uncertain wall according to claim 7, characterized in that, Step 5 specifically includes: Step 5.1: Before laying the exterior wall panels, re-check the positioning status of the composite wall. If the positioning status of the composite wall is qualified, proceed to step 5.

2. If the positioning status of the composite wall is not qualified, repeat steps 1-4. Step 5.2: Based on the plotting results in Step 4, hoist the external wall panel onto the composite wall to form a closed area, and pre-connect the external wall panel.

9. The method for drilling blind holes in a closed area with an uncertain wall according to claim 8, characterized in that, Step 6 specifically includes: Step 6.1: Based on the plotting results in Step 4, detect the actual deflection angle between the axis of the hole at the plotting point and the outer wall panel; Step 6.2: Compare the actual deflection angle with the deflection tolerance angle. If the actual deflection angle is less than or equal to the deflection tolerance angle, proceed to step 6.3; if the actual deflection angle is greater than the deflection tolerance angle, re-plot the hole. Step 6.3: Drill holes in the outer wall panel and composite wall based on the hole-making information.

Images