A method for hoisting and mounting large aircraft components

Abstract

This application discloses a method for hoisting and mounting large aircraft components. First, a first transformation relationship is obtained. Then, the aircraft component to be installed is hoisted, and the real-time coordinates of each monitoring target point are measured. Next, the real-time coordinates of the ball joint are calculated based on the first transformation relationship and the real-time target coordinates. Then, an assembly coordinate system and an equipment coordinate system are constructed, and a second transformation relationship is calculated. Finally, the real-time positioning coordinates are calculated based on the ball joint's real-time coordinates and the second transformation relationship. Finally, the aircraft component is mounted and installed based on the real-time positioning coordinates. This application converts the real-time changes in the process ball joint coordinates into the real-time positioning coordinates of the positioner through the first and second transformation relationships, enabling the adjustment of the positioner. That is, the adjustment frequency of the positioner is consistent with the swing frequency of the hoisted component, ensuring that the positioner is always at the optimal support point. Furthermore, the optimal support point is correlated with the real-time state of the hoisted component. Therefore, adjustment through methods such as sandbag leveling is no longer necessary, reducing the difficulty of hoisting.

Description

Technical Field

[0001] This application relates to the field of aircraft manufacturing technology, specifically to a method for hoisting and mounting large aircraft components. Background Technology

[0002] As aircraft performance continues to improve, the requirements for assembly precision of the entire aircraft structure are becoming increasingly stringent. To ensure high-precision and efficient assembly of large aircraft components and improve the overall assembly quality, the current approach in the field of large component assembly often employs a technical solution of adjusting and aligning large components by first adjusting their attitude and then aligning them, using a group of attitude adjustment and alignment equipment composed of multiple CNC positioners. The ball joint of the CNC positioner is connected to the ball joint of the large component to form a ball joint structure, and the attitude adjustment is completed by the coordinated movement of the CNC positioners driving the movement of the large component.

[0003] Before aligning and positioning large components, the first step is to hoist and place them into position, specifically by lowering the process ball joints on the large component into the ball sockets of the CNC positioner. Current techniques typically determine the receiving position of the CNC positioner's ball socket based on the theoretical position of the process ball joints, and then hoist the large component onto the CNC positioner. However, due to the irregular shape of the large component and the difference between its center of gravity and the theoretical position, the process ball joints are not in their theoretical posture during hoisting. Therefore, sandbag balancing is required. However, the sandbag balancing method is cumbersome and requires repeated testing, making it impossible to accurately adjust the process ball joints of the large component to their theoretical posture, thus greatly increasing the difficulty of component hoisting. Summary of the Invention

[0004] The main purpose of this application is to provide a method for hoisting and mounting large aircraft components, aiming to solve the problem of high hoisting difficulty in the existing technology.

[0005] This application achieves the above objectives through the following technical solutions:

[0006] A method for hoisting and mounting large aircraft components includes the following steps:

[0007] Obtain a first transformation relationship, wherein the first transformation relationship represents the positional transformation relationship between the process ball head on the support bracket and the monitoring target point;

[0008] Hoist the aircraft components to be installed and measure the real-time coordinates of each monitoring target point;

[0009] The real-time coordinates of the ball head are calculated based on the first transformation relationship and the real-time coordinates of the target point.

[0010] Construct an assembly coordinate system and an equipment coordinate system, and calculate a second transformation relationship, wherein the second transformation relationship represents the transformation relationship between the assembly coordinate system and the equipment coordinate system;

[0011] Calculate the real-time positioning coordinates based on the real-time coordinates of the ball head and the second transformation relationship;

[0012] The aircraft components are installed using the real-time positioning coordinates.

[0013] Optionally, obtaining the first transformation relationship includes the following steps:

[0014] Measure the initial coordinates of each ball joint on the support bracket;

[0015] Measure the initial coordinates of each monitoring target point on the support bracket;

[0016] A first transformation relationship is constructed based on the initial coordinates of the ball head and the initial coordinates of the target point.

[0017] Optionally, the expression for the first transformation relation is: ,in The coordinates are after rigid transformation. It is a 3x3 rotation matrix. It is a 3*1 translation matrix. The coordinates are before the rigid transformation. Optionally, the real-time coordinates of the ball head are calculated based on the first transformation relationship and the real-time coordinates of the target point;

[0018] Obtain the first transformation relationship and the real-time coordinates of the target point;

[0019] The conversion relationship between the real-time coordinates of the target point and the real-time coordinates of the ball head is calculated based on the first conversion relationship.

[0020] Calculate the real-time coordinates of the ball head based on the real-time coordinates of the target point and the conversion relationship;

[0021] Optionally, the expression for the conversion relationship is:

[0022] Where N represents the process ball head number, QT represents the ball head, and QTN represents the process ball head number. xt QTN represents the x-coordinate of the Nth process ball head at time t. yt QTN represents the y-coordinate of the Nth process ball head at time t. zt Let z represent the z-coordinate of the Nth process ball head at time t.

[0023] Optionally, an assembly coordinate system and an equipment coordinate system are constructed, and a second transformation relationship is calculated, wherein the second transformation relationship represents the transformation relationship between the assembly coordinate system and the equipment coordinate system, including the following steps:

[0024] Construct the assembly coordinate system and the equipment coordinate system for each CNC positioner;

[0025] Each CNC positioner is controlled to move to the zero point position in the equipment coordinate system, and the first initial coordinates of each CNC positioner are obtained.

[0026] Measure the second initial coordinates of each CNC positioner in the assembly coordinate system;

[0027] The second rotation relationship is calculated based on the first initial coordinates and the second initial coordinates.

[0028] Optionally, the real-time positioning coordinates are calculated based on the real-time coordinates of the ball head and the second transformation relationship, including the following steps:

[0029] Obtain the real-time coordinates of the ball head and the second transformation relationship;

[0030] Based on the second transformation relationship, calculate the formula for the movement of each CNC positioner in the equipment coordinate system;

[0031] Substitute the real-time coordinates of the ball head into the movement calculation formula to calculate the real-time positioning coordinates.

[0032] Optionally, the expression for the formula for calculating movement is:

[0033] , where n represents the CNC positioner number; Let X, Y, and Z be the direction vectors of the X, Y, and Z axes of the nth CNC positioner in the assembly reference system; Let X be the component of the X-direction of the nth locator coordinate system in the assembly coordinate system. Let X be the component of the x-direction of the nth locator coordinate system in the y-direction of the assembly coordinate system. Let X be the component of the x-direction of the nth locator coordinate system in the z-direction of the assembly coordinate system. Let X be the component of the Y-direction of the nth locator coordinate system in the X-direction of the assembly coordinate system. Let Y be the component of the Y-direction of the nth locator coordinate system in the Y-direction of the assembly coordinate system. Let Y be the component of the coordinate system of the nth locator in the Y direction within the assembly coordinate system in the Z direction. Let Z be the component of the nth locator coordinate system in the Z direction within the assembly coordinate system in the X direction. Let Z be the component of the nth locator coordinate system in the Z direction within the assembly coordinate system. Let Z be the component of the Z-direction of the nth locator coordinate system in the Z-direction of the assembly coordinate system; Let be the amount of movement of the nth axis along the X, Y, and Z axes in the device coordinate system. The initial position of the single positioner on the nth axis in the assembly coordinate system. This represents the target position value of the nth CNC positioner in the assembly coordinate system.

[0034] Compared with the prior art, this application has the following beneficial effects:

[0035] This application first obtains a first transformation relationship, then hoists the aircraft component to be installed, measures the real-time coordinates of each monitoring target point, then calculates the real-time coordinates of the ball head of the process ball head according to the first transformation relationship and the real-time coordinates of the target points, then constructs an assembly coordinate system and an equipment coordinate system, calculates a second transformation relationship, then calculates the real-time positioning coordinates according to the real-time coordinates of the ball head and the second transformation relationship, and finally receives and installs the aircraft component according to the real-time positioning coordinates.

[0036] In the actual hoisting process, due to the obstruction of the equipment, the process ball head cannot be directly measured after hoisting. Since both the process ball head and the monitoring target are set on the hanger, and the hanger is a rigid structure, there is a definite positional relationship between the process ball head and the monitoring target. That is, this application establishes a positional transformation relationship between the process ball head and the monitoring target through the first transformation relationship.

[0037] During the hoisting process, the adjustment reference coordinate system of each positioner used to support and install aircraft components is the equipment coordinate system, while the coordinate system of the detection device is the assembly coordinate system. This application achieves the above transformation through a second transformation relationship, thereby transforming the process ball head and the positioner to the same coordinate system and realizing the direct association between the two. During the hoisting process, the real-time changes in the coordinates of the process ball head can be converted into the real-time positioning coordinates of the positioner, thereby realizing the real-time adjustment of the positioner. That is, the adjustment frequency of the positioner is consistent with the swing frequency of the hoisting component, thereby improving the timeliness of aircraft component support and hoisting efficiency.

[0038] Secondly, since the positioner can adjust in real time to follow the swing of the hoisting component, that is, the positioner is always in the optimal support position, and the above-mentioned optimal support position is related to the real-time status of the hoisting component, it is no longer necessary to make frequent adjustments through methods such as sandbag balancing, which simplifies the hoisting process, thereby reducing the difficulty of hoisting, and also eliminates the safety hazards caused by long-term balancing adjustments.

[0039] Finally, because the position of the locator is adjusted in real time, it can ensure that each process ball head aligns with the corresponding locator at the optimal angle, minimizing hard collisions between the locator and the process ball head, ensuring that the process ball head does not deform when it is in place and does not affect its theoretical position, thus meeting the accuracy requirements for attitude adjustment and alignment of large aircraft components. It should also be noted that the above objectives can be achieved through the conversion of several transformation relationships, and the technical solution is simple and the technical effect is obvious. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the electronic device disclosed in the embodiments of this application;

[0041] Figure 2A flowchart illustrating a method for hoisting and mounting large aircraft components, provided as an embodiment of this application;

[0042] Figure 3 This is a structural schematic diagram of the hanger;

[0043] Figure 4 This is a schematic diagram of the structure of a CNC positioner;

[0044] Figure 5 A schematic diagram of a CNC positioner supporting a large aircraft component;

[0045] Figure labels: 1-Process ball head, 2-Monitoring target point, 3-Measurement system, 4-CNC positioner.

[0046] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "robot coordinate system and / or m" as an example, it includes the robot coordinate system solution, the m solution, or a solution where both the robot coordinate system and m are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0051] Example

[0052] Figure 1 This is a schematic diagram of the electronic device structure of the hardware operating environment involved in the embodiments of this application.

[0053] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components.

[0054] User interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, user interface 1003 may also include a standard wired interface or a wireless interface.

[0055] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi (Wi-Fi) interface).

[0056] The memory 1005 can be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. Alternatively, the memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0058] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in the electronic device, and the electronic device calls the gypsum board defect detection system stored in the memory 1005 through the processor 1001 and executes the gypsum board defect detection method provided in the embodiments of this application.

[0059] Reference Figure 2 This embodiment discloses a method for hoisting and mounting large aircraft components, including the following steps:

[0060] S1. Obtain the first conversion relationship, wherein the first conversion relationship represents the positional conversion relationship between the process ball head on the support bracket and the monitoring target point;

[0061] S11. Measure the initial coordinates of each ball head on the support bracket;

[0062] Reference Figure 3 and Figure 4 In the actual hoisting process, the hoisting equipment mainly includes a hoist, a measurement system 3 and a group of attitude adjustment and alignment equipment consisting of several CNC positioners 4. The hoist is used to place the aircraft parts to be hoisted. The hoist is a rigid structure with several process ball heads 1 and several monitoring target points 2 on it.

[0063] The measurement system is a laser tracker or other detection equipment, and the attitude adjustment and alignment equipment group includes several CNC positioners;

[0064] During the hoisting process, the aircraft parts to be hoisted are placed on the gantry, and then the gantry and aircraft parts are hoisted as a whole and docked with each attitude adjustment and alignment equipment group. Each attitude adjustment and alignment equipment supports each process ball head.

[0065] Since the hanger is a rigid structure, the positional relationship between each process ball head and a monitoring target point is determined;

[0066] In actual measurement, each process ball head is first numbered, and each monitoring target is also numbered. Process ball heads and monitoring targets with the same number correspond to each other. The first conversion relationship refers to the conversion relationship between the corresponding process ball heads and monitoring targets.

[0067] After the hanger is installed, the initial coordinates of each process ball joint are detected using a laser tracker. If there are four process ball joints, the expression for the initial coordinates of the ball joints is:

[0068] , ,

[0069] , ; where 1, 2, 3 and 4 are the process ball head numbers.

[0070] S12. Measure the initial coordinates of each monitoring target point on the support bracket;

[0071] Measure the initial coordinates of each monitoring target point. If there are 4 monitoring target points, the expression for the initial coordinates of the target points is: , , , ; where 1, 2, 3 and 4 are the target numbers.

[0072] S13. Construct a first transformation relationship based on the initial coordinates of the ball head and the initial coordinates of the target point.

[0073] The expression for the first transformation relation is: ,in The coordinates are after rigid transformation. It is a 3x3 rotation matrix. It is a 3*1 translation matrix. These are the coordinates before the rigid transformation.

[0074] S2. Hoist the aircraft components to be installed and measure the real-time coordinates of each monitoring target point;

[0075] Place the aircraft parts to be installed on the gantry, and then lift the gantry directly above each attitude adjustment and alignment equipment group, ensuring that the gantry does not swing or sway significantly.

[0076] S3. Calculate the real-time coordinates of the ball head based on the first conversion relationship and the real-time coordinates of the target point;

[0077] S31. Obtain the first transformation relationship and the real-time coordinates of the target point;

[0078] Once the suspension system stops swaying or shaking significantly, the real-time coordinates of each target point are measured using a laser tracker, and the expression is as follows: , , , ;

[0079] S32. Calculate the conversion relationship between the real-time coordinates of the target point and the real-time coordinates of the ball head based on the first conversion relationship;

[0080] The expression for the conversion relationship is: Where N represents the process ball head number, QT represents the ball head, and QTN represents the process ball head number. xt QTN represents the x-coordinate of the Nth process ball head at time t.yt QTN represents the y-coordinate of the Nth process ball head at time t. zt This represents the z-coordinate of the Nth process ball head at time t;

[0081] V xx V represents the direction vector of the x-axis of the gantry coordinate system at time t after rotation along the x-axis at the initial moment. xy V represents the direction vector of the y-direction of the gantry coordinate system at time t after the x-axis of the gantry coordinate system has been rotated at the initial moment. xz V represents the direction vector of the hanger coordinate system in the z-direction at time t after the x-axis of the hanger coordinate system has been rotated at the initial moment. yx V represents the direction vector of the y-axis of the gantry coordinate system at time t after rotation along the y-axis at the initial moment. yy V represents the direction vector of the y-axis of the gantry coordinate system at time t after rotation along the y-axis at the initial moment. yz V represents the direction vector of the y-axis of the gantry coordinate system at time t after rotation along the y-axis at the initial moment. zx V represents the direction vector of the gantry coordinate system in the x-direction at time t after the initial rotation of the z-axis. zy V represents the direction vector of the y-direction of the gantry coordinate system at time t after the initial rotation of the z-axis. zz This represents the direction vector of the z-direction of the gantry coordinate system at time t after the initial rotation of the z-axis;

[0082] QTN x0 QTN represents the x-coordinate of the Nth process ball head at time 0. y0 QTN represents the y-coordinate of the Nth process ball head at time 0. z0 This represents the z-coordinate of the Nth process ball head at time 0;

[0083] X0 represents the distance the initial gantry coordinate system moves in the X direction from the initial gantry coordinate system to the gantry coordinate system at time t, Y0 represents the distance the initial gantry coordinate system moves in the Y direction from the initial gantry coordinate system to the gantry coordinate system at time t, and Z0 represents the distance the initial gantry coordinate system moves in the Z direction from the initial gantry coordinate system to the gantry coordinate system at time t.

[0084] S33. Calculate the real-time coordinates of the ball head based on the real-time coordinates of the target point and the conversion relationship;

[0085] Substituting the real-time target coordinates obtained in step S32 into the conversion relationship yields the real-time ball head coordinates at the same moment.

[0086] S4. Construct an assembly coordinate system and an equipment coordinate system, and calculate a second transformation relationship, wherein the second transformation relationship represents the transformation relationship between the assembly coordinate system and the equipment coordinate system;

[0087] S41. Construct the assembly coordinate system and the equipment coordinate system for each CNC positioner respectively;

[0088] Establish an assembly coordinate system at the assembly site, and at the same time establish corresponding equipment coordinate systems for each attitude adjustment and mating device;

[0089] The assembly coordinate system is the coordinate system of the laser tracker, and the equipment coordinate system is the coordinate system of each attitude adjustment and mating device;

[0090] S42. Control each CNC positioner to move to the zero position in the equipment coordinate system, and obtain the first initial coordinates of each CNC positioner;

[0091] Each CNC positioner is controlled to move to the zero point position in its equipment coordinate system. That is, in the equipment coordinate system, the first initial coordinates of each CNC positioner are (0, 0, 0).

[0092] S43. Measure the second initial coordinates of each CNC positioner in the assembly coordinate system;

[0093] Subsequently, the coordinates of the receiving end of each CNC positioner are located using a laser tracker. These coordinates are its coordinates in the assembly coordinate system, i.e., the second initial coordinates of each CNC positioner.

[0094] S44. Calculate the second rotation relationship based on the first initial coordinates and the second initial coordinates.

[0095] S5. Calculate the real-time positioning coordinates based on the real-time coordinates of the ball head and the second transformation relationship;

[0096] S51. Obtain the real-time coordinates of the ball head and the second transformation relationship;

[0097] S52. Calculate the formula for calculating the movement of each CNC positioner in the equipment coordinate system according to the second transformation relationship;

[0098] The expression for the formula to calculate movement is:

[0099] , where n represents the CNC positioner number; Let X, Y, and Z be the direction vectors of the X, Y, and Z axes of the nth CNC positioner in the assembly reference system; Let X be the component of the X-direction of the nth locator coordinate system in the assembly coordinate system. Let X be the component of the x-direction of the nth locator coordinate system in the y-direction of the assembly coordinate system. Let X be the component of the x-direction of the nth locator coordinate system in the z-direction of the assembly coordinate system. Let X be the component of the Y-direction of the nth locator coordinate system in the X-direction of the assembly coordinate system. Let Y be the component of the Y-direction of the nth locator coordinate system in the Y-direction of the assembly coordinate system. Let Y be the component of the coordinate system of the nth locator in the Y direction within the assembly coordinate system in the Z direction. Let Z be the component of the nth locator coordinate system in the Z direction within the assembly coordinate system in the X direction. Let Z be the component of the nth locator coordinate system in the Z direction within the assembly coordinate system. Let Z be the component of the Z-direction of the nth locator coordinate system in the Z-direction of the assembly coordinate system; Let be the amount of movement of the nth axis along the X, Y, and Z axes in the device coordinate system. The initial position of the single positioner on the nth axis in the assembly coordinate system. Let n be the target position value of the nth CNC positioner in the assembly coordinate system;

[0100] Since the CNC positioner needs to support each ball head separately, the X and Y coordinates in the real-time coordinates of the ball head are the target points that the CNC positioner adjusts. The real-time coordinates of the target point are detected by the laser tracker, which are coordinates in the assembly coordinate system. Therefore, the real-time coordinates of the ball head calculated through the first conversion relationship are also coordinates in the assembly coordinate system.

[0101] The coordinates located in the assembly coordinate system can be transformed back to the equipment coordinate system through the second transformation relationship, thereby achieving matching with the CNC positioner, ensuring the adjustment accuracy of the CNC positioner, and realizing real-time adjustment of the CNC positioner coordinates.

[0102] S53. Substitute the real-time coordinates of the ball head into the movement calculation formula to calculate the real-time positioning coordinates.

[0103] S6. Install aircraft components on the receiving chuck according to the real-time positioning coordinates.

[0104] It should be noted that during the hoisting process, the gantry and aircraft components will gradually descend and eventually dock with each CNC positioner. Therefore, in the actual adjustment process, the Z-axis coordinate can be ignored, that is, the X-axis and Y-axis coordinates in the real-time positioning coordinates can be used for corresponding adjustments.

[0105] During hoisting operations, the process ball head cannot be directly measured after being hoisted due to the obstruction of the equipment. However, since both the process ball head and the monitoring target are set on the hanger, and the hanger is a rigid structure, there is a definite positional relationship between the process ball head and the monitoring target. That is, this application establishes a positional transformation relationship between the process ball head and the monitoring target through the first transformation relationship.

[0106] The adjustment reference coordinate system of each positioner used for receiving and installing aircraft components is the equipment coordinate system, while the coordinate system of the detection device is the assembly coordinate system. This application achieves the above transformation through a second transformation relationship, thereby transforming the process ball head and the positioner to the same coordinate system and realizing the direct association between the two. During the hoisting process, the real-time changes in the coordinates of the process ball head can be converted into the real-time positioning coordinates of the positioner, thereby realizing the real-time adjustment of the positioner. That is, the adjustment frequency of the positioner is consistent with the swing frequency of the hoisting component, thereby improving the timeliness of aircraft component acceptance and hoisting efficiency.

[0107] Secondly, since the positioner can adjust in real time to follow the swing of the hoisting component, that is, the positioner is always in the optimal support position, there is no need for frequent adjustments through methods such as sandbag leveling, which simplifies the hoisting process, reduces the difficulty of hoisting, and also eliminates the safety hazards caused by long-term leveling adjustments.

[0108] Finally, because the position of the locator is adjusted in real time, it can ensure that each process ball head aligns with the corresponding locator at the optimal angle, minimizing hard collisions between the locator and the process ball head, ensuring that the process ball head does not deform when it is in place and does not affect its theoretical position, thus meeting the accuracy requirements for attitude adjustment and alignment of large aircraft components. It should also be noted that the above objectives can be achieved through the conversion of several transformation relationships, and the technical solution is simple and the technical effect is obvious.

[0109] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for hoisting and racking a large aircraft component, characterized in that, The method comprises the following steps: obtaining a first conversion relationship, wherein the first conversion relationship represents a position conversion relationship between a process ball head on a support bracket and a monitoring target point; hoisting a to-be-installed aircraft part, and measuring real-time target point coordinates of each monitoring target point; calculating real-time ball head coordinates of the process ball head according to the first conversion relationship and the real-time target point coordinates; constructing an assembly coordinate system and a device coordinate system, and calculating a second conversion relationship, wherein the second conversion relationship represents a conversion relationship between the assembly coordinate system and the device coordinate system; obtaining the real-time ball head coordinates and the second conversion relationship; respectively calculating a movement amount calculation formula of each numerical control positioner in the device coordinate system according to the second conversion relationship; substituting the real-time ball head coordinates into the movement amount calculation formula to calculate real-time positioning coordinates; according to the real-time positioning coordinates, hoisting the to-be-installed aircraft part.

2. A method for hoisting and racking of large aircraft components according to claim 1, characterized in that The method for obtaining the first conversion relationship comprises the following steps: respectively measuring initial ball head coordinates of each process ball head on the support bracket; respectively measuring initial target point coordinates of each monitoring target point on the support bracket; constructing the first conversion relationship according to the initial ball head coordinates and the initial target point coordinates.

3. A method of hoisting and racking a large aircraft component according to claim 2, wherein, The expression of the first conversion relationship is wherein is a rigid transformation post-coordinate, is a 3*3 rotation matrix, is a 3*1 translation matrix, is a rigid transformation pre-coordinate.

4. A method for hoisting and racking large aircraft components as defined in claim 1, wherein, The method for calculating the real-time ball head coordinates of the process ball head according to the first conversion relationship and the real-time target point coordinates comprises the following steps: obtaining the first conversion relationship and the real-time target point coordinates; solving a conversion relationship between the real-time target point coordinates and the real-time ball head coordinates according to the first conversion relationship; calculating the real-time ball head coordinates according to the real-time target point coordinates and the conversion relationship.

5. A method of hoisting and racking a large aircraft component according to claim 4, wherein, The expression of the conversion relationship is as follows: where N denotes the number of process balls, QT denotes the ball, QTN xt represents the x-coordinate of the Nth process ball at time t, QTN yt represents the y-coordinate of the Nth process ball at time t, QTN zt represents the z-coordinate of the Nth process ball at time t; V xx directional vector of the x direction of the hanger coordinate system at time t after the x axis of the hanger coordinate system at the initial moment is rotated, V xy directional vector of the y direction of the hanger coordinate system at time t after the x axis of the hanger coordinate system at the initial moment is rotated, V xz directional vector of the z direction of the hanger coordinate system at time t after the x axis of the hanger coordinate system at the initial moment is rotated, V yx directional vector of the x direction of the hanger coordinate system at time t after the y axis of the hanger coordinate system at the initial moment is rotated, V yy directional vector of the y direction of the hanger coordinate system at time t after the y axis of the hanger coordinate system at the initial moment is rotated, V yz directional vector of the z direction of the hanger coordinate system at time t after the y axis of the hanger coordinate system at the initial moment is rotated, V zx directional vector of the x direction of the hanger coordinate system at time t after the z axis of the hanger coordinate system at the initial moment is rotated, V zy directional vector of the y direction of the hanger coordinate system at time t after the z axis of the hanger coordinate system at the initial moment is rotated, V zz directional vector of the z direction of the hanger coordinate system at time t after the z axis of the hanger coordinate system at the initial moment is rotated, V QTN x0 represents the x-coordinate of the Nth process ball head at time 0, QTN y0 represents the y-coordinate of the Nth process ball head at time 0, QTN z0 represents the z-coordinate of the Nth process ball head at time 0 X0 represents a distance of movement of a hanger coordinate system in an X direction from an initial time to a time t, Y0 represents a distance of movement of the hanger coordinate system in a Y direction from the initial time to the time t, and Z0 represents a distance of movement of the hanger coordinate system in a Z direction from the initial time to the time t.

6. A method for hoisting and rigging large aircraft components according to claim 1, wherein, The method for constructing the assembly coordinate system and the device coordinate system, and calculating the second conversion relationship, wherein the second conversion relationship represents a conversion relationship between the assembly coordinate system and the device coordinate system, comprises the following steps: respectively constructing the assembly coordinate system and a device coordinate system of each numerical control positioner; respectively controlling each numerical control positioner to move to a zero point position in the device coordinate system, and obtaining first initial coordinates of each numerical control positioner; respectively measuring second initial coordinates of each numerical control positioner in the assembly coordinate system; calculating the second conversion relationship according to the first initial coordinates and the second initial coordinates.

7. A method for hoisting and racking large aircraft components as defined in claim 1, wherein, The expression of the movement amount calculation formula is as follows: where n denotes the number of the CNC positioner; X, Y, Z axis of the n-th CNC positioner in the direction vector of each axis in the assembly coordinate system; is the component of the X direction of the n-th positioner coordinate system in the X direction of the assembly coordinate system, is the component of the X direction of the n-th positioner coordinate system in the Y direction of the assembly coordinate system, is the component of the X direction of the n-th positioner coordinate system in the Z direction of the assembly coordinate system, is the component of the Y direction of the n-th positioner coordinate system in the X direction of the assembly coordinate system, is the component of the Y direction of the n-th positioner coordinate system in the Y direction of the assembly coordinate system, is the component of the Y direction of the n-th positioner coordinate system in the Z direction of the assembly coordinate system, is the component of the Z direction of the n-th positioner coordinate system in the X direction of the assembly coordinate system, is the component of the Z direction of the n-th positioner coordinate system in the Y direction of the assembly coordinate system, is the component of the Z direction of the n-th positioner coordinate system in the Z direction of the assembly coordinate system; is the movement amount of the n-th axis along the X, Y, Z axis in the device coordinate system, is the initial position of the n-th axis single positioner in the assembly coordinate system, is the target position value of the n-th CNC positioner in the assembly coordinate system.

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