CN101746510B - Assembly method of leading edge flap based on laser measuring technique - Google Patents

Abstract

An assembly method of a leading edge flap based on laser measurement technology, which has thirteen steps. 1. Check the working condition of the assembly platform and the initial position of the assembly unit; 2. Import the necessary data into the data processing center and generate the corresponding NC program; 3. Use the laser tracker to measure the 4 public measurement points; 4. Measure the Input the data into the data processing center, and calculate the transformation matrix of the coordinate transformation of the measured data; 5. Assembly and positioning of the hinge; 6. Pre-assembly of the spar; 7. Assembly and positioning of the wing rib; 8. Connect the spar and the wing rib with fasteners , Spars and hinges; 9. Assembly and positioning of the skin; 10. Connecting the leading edge profiles and the ribs, the upper and lower skins, the ribs and the leading edge profiles. 11. Remove the assembled leading edge flap components from the assembly platform; 12. Test the aerodynamic shape; 13. Analyze the accuracy of the aerodynamic shape. It realizes the digitization, automation and flexibility of leading edge flap assembly, and has application prospects in aircraft manufacturing.

Description

A leading-edge flap assembly method based on laser measurement technology

(1) Technical field:

The invention relates to an assembly method of a leading edge flap, in particular to an assembly method of a leading edge flap based on laser measurement technology, and belongs to the technical field of aircraft wing assembly in aviation manufacturing.

(two) background technology:

Leading edge flap is one of the most commonly used high-lift devices on the leading edge of the wing. It is usually used on supersonic aircraft. Its function is to delay the separation of airflow, increase the maximum lift coefficient and critical angle of attack, especially during takeoff and landing in the process of. The manufacturing accuracy and quality of the leading edge flaps affect the aerodynamic performance of the entire aircraft, which in turn affects the flight performance of the aircraft.

The commonly used structural scheme of the leading edge flap is: it is connected with the lower edge strip of the front beam of the wing or the front wall with a hinge, and it can deflect around the hinge within a certain angle range. When the leading edge flap is turned relative to its axis, its upper edge slides along a special profile fixed to the wing, preventing the formation of gaps. The basic structural members are hinges, spars, ribs and skins.

In the traditional analog-based aircraft assembly production, the assembly of leading-edge flaps is carried out in special tooling. This assembly method has the following problems: first, the jig used for assembly is specially made, and can only be assembled with a certain type of leading edge flap, which lacks flexibility and is costly; The manufacturing precision and the worker's operating level restrict the assembly precision; thirdly, there is a lack of effective detection means in the assembly process, and the detection results are not digital, so quantitative analysis cannot be performed.

(3) Contents of the invention:

1. Purpose: The purpose of this invention is to provide a method for assembling a leading edge flap based on laser measurement technology, which can solve the deficiencies in the existing leading edge flap assembly and manufacturing process and improve the assembly accuracy of the leading edge flap; And try to reduce the special assembly tooling, improve the flexibility of the assembly system.

2. Technical solution:

The invention relates to an assembly method of a leading edge flap based on laser measurement technology, which includes three stages: a preparation stage before assembly, an assembly stage and a detection and analysis stage after assembly.

The preparation phase before assembly includes the following steps:

Step 1: Check the current working conditions of the assembly platform to ensure that all CNC assembly units have returned to their initial positions.

Step 2: Open the data processing center of the assembly system, import the necessary theoretical design data, and generate the corresponding NC program. The data processing center includes CATIA commercial design software and self-developed data processing function modules. The theoretical design is completed in the CATIA software, and the theoretical design data in the CATIA software is read in the self-developed data reading function module, and the corresponding NC program is generated.

Step 3: Install targets for laser tracking measurement on the base of the 4 public measuring points on the assembly platform, use the laser tracker to measure the 4 public measuring points in sequence, and use the coordinate data of these 4 public measuring points to perform laser tracking and measurement. The coordinate system calibration of the measurement system unifies the coordinate system of the laser measurement system and the coordinate system of the assembly system.

Step 4: Input the coordinate data of the 4 public measurement points into the data processing center of the assembly system as the reference point in the coordinate conversion process of converting the measurement data under the coordinate system of the assembly system to the theoretical design coordinate system, and calculate and obtain the measurement data Transformation matrix for coordinate transformation.

The calculation method of the transformation matrix is as follows:

其中

i＝1，2，3，4为公共测量点的激光跟踪测量数据，

i＝1，2，3，4为公共测量点的理论设计数据，求解角度变换矩阵R。在根据公式

求解平移变换矩阵。λ为长度系数，其计算公式为

最后，可得数据转换式为：

其中

为数据转换后的坐标值，

为测量数据的坐标值。According to the formula

in

i=1, 2, 3, 4 are laser tracking measurement data of public measurement points,

i=1, 2, 3, 4 are the theoretical design data of public measuring points, and the angle transformation matrix R is solved. in accordance with the formula

Solve the translation transformation matrix. λ is the length coefficient, and its calculation formula is

Finally, the available data conversion formula is:

in

is the coordinate value after data conversion,

is the coordinate value of the measured data.

The assembly phase consists of the following steps:

Step 5: Assembly and positioning of the hinge.

The target base for laser tracking measurement is installed on the positioning reference hole of the hinge. Place the hinge on the fixture of the CNC assembly unit and fix it tightly. Start the driving command of the hinge to control the assembly unit to move to the target position. The laser tracker is used to measure the positioning reference holes sequentially, and the current assembled spatial position of the hinge is compared with the theoretically designed spatial position to calculate the spatial position deviation of the hinge and the position compensation amount of each degree of freedom.

Its calculation process is as follows:

取铰链轴线的中点C₁(x_C1，y_C1，z_C1)，其与理论的轴线中点C₀(x_C0，y_C0，z_C0)的坐标偏差为铰链的平移补偿量，即铰链的角度补偿量其中α，β根据轴线的两个端点进行计算，其中

根据测量得到的3个腹板面上的随机点计算得到铰链定位基准面的实际法向量e₁，其与理论设计的腹板面法向量e₀之间的夹角即为第三个角度补偿量γ。The theoretical design space positions of the two positioning reference holes at the shaft end of the hinge are A ₀ (x _A0 , y _A0 , z _A0 ), B ₀ (x _B0 , y _B0 , z _B0 ), and the actual space measured by laser tracking The position is A ₁ (x _A1 , y _A1 , z _A1 ), B ₁ (x _B1 , y _B1 , z _B1 ), and the spatial position deviation of the axis endpoint is

Take the midpoint C ₁ (x _C1 , y _C1 , z _C1 ) of the hinge axis, and its coordinate deviation from the theoretical axis midpoint C ₀ (x _C0 , y _C0 , z _C0 ) is the translation compensation of the hinge, namely Angle compensation of the hinge where α, β are calculated according to the two endpoints of the axis, where

The actual normal vector e ₁ of the hinge positioning datum plane is calculated according to the measured random points on the three web surfaces, and the angle between it and the theoretically designed web surface normal vector e ₀ is the third angle compensation Quantity γ.

Generate fine-tuning instructions for the assembly unit according to the spatial position compensation amount. The assembly unit executes the fine-tuning instruction to fine-tune the spatial position. The positioning reference hole of the hinge is measured again with a laser tracker, and the above process is repeated until the spatial position deviation of the hinge is within the allowable range. According to the above assembly and positioning process, other hinges of the leading edge flap are assembled and positioned sequentially.

Step 6: Pre-assembly of the spar.

Pre-assemble the spars on the hinges that have been assembled and positioned in sequence.

Step 7: Assembly and positioning of wing ribs.

A target base for laser tracking measurement is installed on the positioning reference hole of the wing rib. Place the rib on the fixture of the assembly unit and fix it tightly. Start the driving command of the wing rib to control the assembly unit to move to the target position. The laser tracker is used to measure the positioning reference hole, and the spatial position of the current assembly of the rib is compared with the theoretically designed spatial position to calculate the spatial position deviation of the rib and the spatial position compensation of each degree of freedom.

Its calculation method is as follows:

The measurement data of the center coordinates of No. 1, No. 2, and No. 3 positioning reference holes on the rib web surface are spatial points O ₁ , H ₁ , and V ₁ , which correspond to spatial points O, H, and V in the theoretical design data The spatial position deviation between is represented by the coordinate value error of the point, that is, three vectors

The spatial position compensation of the rib parts includes the translation deviation compensation along the three coordinate axes and the rotation angle deviation compensation around the three coordinate axes. The translational deviation compensation of the rib parts is the spatial coordinate deviation between the No. 1 assembly positioning reference point and the theoretical design point, according to the formula

$\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\end{array}\right)<span\; class="notranslate">\; +</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right)<span\; class="notranslate">\; ,</span>$

为当前的装配定位基准孔的空间位置，

为经过平移补偿之后的装配定位基准点的空间位置，

为平移偏差补偿量，计算出在平移偏差补偿后的其他装配定位基准点的空间位置。翼肋零件的旋转角偏差补偿量为在对平移偏差补偿量进行补偿后，分别绕3个坐标轴方向旋转调整的角度值，该角度值由当前装配定位基准点与理论设计值之间的偏差估算得到，并且根据刚体运动学，在绕某个坐标轴完成旋转角度的补偿后，根据公式in

Locate the spatial position of the datum hole for the current assembly,

Position the spatial position of the datum point for the assembly after translation compensation,

The spatial position of other assembly positioning reference points after the translation deviation compensation is calculated as the translation deviation compensation amount. The rotation angle deviation compensation amount of the wing rib part is the angle value adjusted by rotating around the three coordinate axes after compensating the translation deviation compensation amount. The angle value is determined by the deviation between the current assembly positioning reference point and the theoretical design value Estimated, and according to the rigid body kinematics, after completing the compensation of the rotation angle around a certain coordinate axis, according to the formula

$\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; (</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>\left(\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}\\ \mathrm{<span\; class="notranslate">\; z</span>}\end{array}\right)<span\; class="notranslate">\; ,</span>$

为旋转轴，θ为绕该旋转轴进行补偿的角度值，并且

计算出此时其他装配定位基准孔的空间位置。in

is the axis of rotation, θ is the angle value for compensation around the axis of rotation, and

Calculate the spatial position of other assembly positioning datum holes at this time.

According to the position compensation amount, the spatial position fine adjustment instruction of the assembly unit is generated. The assembly unit executes the fine-tuning instruction to fine-tune the spatial position. Again, measure the positioning reference hole of the rib with a laser tracker, and repeat the above process until the spatial position deviation of the rib is within the allowable range.

According to the above assembly and positioning process, other ribs of the leading edge flap are assembled and positioned sequentially.

Step 8: Connect spars to ribs, spars and hinges with fasteners.

Step 9: Assembly positioning of the skin.

The leading edge profile is preassembled on the rib, followed by the skin on the rib.

Step 10: Connect the leading edge profile and each wing rib, the upper and lower skins, each wing rib and the leading edge profile.

Step 11: Remove the assembled leading edge flap components from the assembly platform.

The post-assembly inspection analysis phase includes the following steps:

Step 12: Detection of aerodynamic shape.

Place the assembled leading edge flap on a fixed workbench, and control the robot to scan and measure the aerodynamic shape of the upper skin with a laser scanner according to the planned path. Flip the leading edge flap over and do the same for the lower skin.

Step 13: Accuracy analysis of aerodynamic shape.

Input the measurement data of the upper and lower skins into the data processing center of the assembly system, compare with the theoretical design data and calculate various aerodynamic shape errors, and store the data number of the leading edge flap into the database. That is to say, in the self-developed error calculation and analysis function module of the data processing center, the theoretical design data and the measurement data of the upper and lower skins read in step 2 are used to calculate and analyze the aerodynamic shape error, and the calculated The analysis results and the related data of the leading edge flap are numbered and stored in the database.

3. Advantages and effects:

The present invention is an assembly method of a leading edge flap based on laser measurement technology, which has the following advantages: first, the assembly feature is measured by a laser measurement system during the assembly process, which can effectively detect the assembly accuracy in the assembly process, To meet the requirements of controlling the manufacturing accuracy of the final product; second, the laser measurement system obtains accurate spatial position and other data during the assembly process, which is no longer an analog quantity, and can quantitatively evaluate the assembly accuracy; third, due to the use of The laser measurement system replaces the traditional special pallet, so that the assembly platform of the assembly system can be used to assemble leading edge flaps with similar structures and sizes within a certain range, which improves the flexibility of the assembly system.

(4) Description of drawings:

Figure 1 is a schematic diagram of the structure of the leading edge flap;

Symbols in the figure are explained as follows: 1. hinge; 2. spar; 3. rib; 4. skin.

(5) Specific implementation methods:

See Fig. 1, the example of concrete implementation is the leading edge flap part with typical structure, and it comprises: 1# hinge 1, 2# hinge 1; Wing spar 2; 1# rib 3, 2# rib 3, 3# Rib 3, 4# rib 3; leading edge profile, upper skin, lower skin.

A leading-edge flap assembly method based on laser measurement, the specific implementation process is as follows:

Preparation stage before assembly.

Step 1: Check the current working conditions of the assembly platform to ensure that all CNC assembly units have returned to their initial positions.

Step 2: Open the data processing center of the assembly system, read in the necessary theoretical design data, and generate the corresponding NC program. The data processing center includes CATIA commercial design software and self-developed data processing function modules. The theoretical design is completed in the CATIA software, and the theoretical design data in the CATIA software is read in the self-developed data reading function module, and the corresponding NC program is generated.

Step 3: Install targets for laser tracking measurement on the base of the 4 common measurement points on the assembly platform, use the laser tracker to measure the 4 common measurement points in turn, and use the coordinate data of these 4 public measurement points to perform laser tracking and measurement. The coordinate system calibration of the measurement system unifies the measurement coordinate system and the assembly coordinate system. The measurement results of the four common points are shown in Table 1.

Table 1 Design and measurement data of public measurement points

其中

i＝1，2，3，4为公共测量点的激光跟踪测量数据，

i＝1，2，3，4为公共测量点的理论设计数据，求解角度变换矩阵R。在根据公式

求解平移变换矩阵。λ为长度系数，其计算公式为

根据3)中的测量数据计算得到坐标转换的变换矩阵如下：Step 4: Input the coordinate data of the 4 public measurement points into the data processing center of the assembly system as the reference point for the coordinate transformation of the laser measurement system and the theoretical design digital model. According to the formula

in

i=1, 2, 3, 4 are laser tracking measurement data of public measurement points,

i=1, 2, 3, 4 are the theoretical design data of public measuring points, and the angle transformation matrix R is solved. in accordance with the formula

Solve the translation transformation matrix. λ is the length coefficient, and its calculation formula is

According to the measurement data in 3), the transformation matrix of coordinate transformation is calculated as follows:

$\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 1.0009</span>}}\left(\begin{array}{ccc}\mathrm{<span\; class="notranslate">\; 0.0142151</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.610417</span>}& \mathrm{<span\; class="notranslate">\; 0.791952</span>}\\ \mathrm{<span\; class="notranslate">\; 0.280117</span>}& \mathrm{<span\; class="notranslate">\; 0.735660</span>}& \mathrm{<span\; class="notranslate">\; 0.560194</span>}\\ <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 0.924560</span>}& \mathrm{<span\; class="notranslate">\; 0.293589</span>}& \mathrm{<span\; class="notranslate">\; 0.242887</span>}\end{array}\right)\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\end{array}\right)<span\; class="notranslate">\; +</span>\left(\begin{array}{c}\mathrm{<span\; class="notranslate">\; 17246.876</span>}\\ \mathrm{<span\; class="notranslate">\; 13574.371</span>}\\ \mathrm{<span\; class="notranslate">\; 9274.632</span>}\end{array}\right)$

为实际测量的在装配坐标系下的数据，

为变换后在理论设计坐标系下的数据。in

is the actual measured data in the assembly coordinate system,

is the transformed data in the theoretical design coordinate system.

Assembly stage.

Step 5: Assembly and positioning of the hinge.

取1#铰链的中点C₁(x_C1，y_C1，z_C1)，其与理论的轴线中点C₀(x_C0，y_C0，z_C0)的坐标偏差为1#铰链的平移补偿量，即

1#铰链的角度补偿量其中α，β根据轴线的两个端点进行计算，其中

根据空间位置补偿量生成装配单元的微调整指令，装配单元根据该微调整指令实施空间位置的微调整。用激光跟踪仪测量腹板面上的3个随机点，根据测量得到的3个腹板面上的随机点计算得到1#铰链定位基准面的实际法向量e₁，其与理论设计的腹板面法向量e₀之间的夹角即为第三个角度补偿量γ。根据空间位置补偿量生成装配单元的微调整指令，装配单元根据该微调整指令实施空间位置的微调整。Install the target base for laser tracking measurement on the positioning reference hole of the 1# hinge part. Place the 1# hinge part on the fixture of the CNC assembly unit and fix it tightly. Start the driving command of the 1# hinge part to control the movement of the assembly unit to the target position. Use the laser tracker to measure the two positioning reference holes of the 1# hinge in sequence. The theoretical design space positions of the two positioning reference holes at the shaft end of the 1# hinge are A ₀ (x _A0 , y _A0 , z _A0 ), B ₀ (x _B0 , y _B0 , z _B0 ), measured by laser tracking The actual spatial position is A ₁ (x _A1 , y _A1 , z _A1 ), B ₁ (x _B1 , y _B1 , z _B1 ), and the spatial position deviation of the axis endpoint is

Take the midpoint C ₁ (x _C1 , y _C1 , z _C1 ) of the 1# hinge, and its coordinate deviation from the theoretical axis midpoint C ₀ (x _C0 , y _C0 , z _C0 ) is the translation compensation amount of the 1# hinge ,Right now

Angle compensation of 1# hinge where α, β are calculated according to the two endpoints of the axis, where

A micro-adjustment instruction of the assembly unit is generated according to the spatial position compensation amount, and the assembly unit implements a micro-adjustment of the spatial position according to the micro-adjustment instruction. Measure 3 random points on the web surface with a laser tracker, and calculate the actual normal vector e ₁ of the 1# hinge positioning reference plane according to the measured random points on the 3 web surfaces, which is consistent with the theoretically designed web The angle between the surface normal vectors e ₀ is the third angle compensation γ. A micro-adjustment instruction of the assembly unit is generated according to the spatial position compensation amount, and the assembly unit implements a micro-adjustment of the spatial position according to the micro-adjustment instruction.

Repeat the above process until the spatial position deviation of the 1# hinge part is within the allowable range. The measurement results, spatial position error and compensation amount of the 1# hinge are shown in Table 3.

Table 3 Design and measurement data and calculation and analysis results of 1# hinge

According to the above assembly and positioning process, the 2# hinge of the leading edge flap is assembled and positioned.

Step 6: Pre-assembly of the spar.

Sequentially pre-assemble the 1st section of the spar and the 2nd section of the spar on the hinge parts that have been assembled and positioned.

Step 7: Assembly and positioning of wing ribs.

Install the target base for laser tracking measurement on the positioning reference hole of the 1# wing rib part. Place the 1# wing rib part on the fixture of the assembly unit, and fix and lock it. Start the driving command of 1# wing rib to control the assembly unit to move to the target position. Use the laser tracker to measure the 3 positioning reference holes, compare the current assembled spatial position of the 1# wing rib part with the theoretically designed spatial position, and calculate the spatial position deviation of the 1# wing rib part and the spatial position of each degree of freedom Compensation amount.

The distribution of the 3 assembly positioning reference holes on the 1# rib web is a right triangle, and the 1st assembly positioning reference hole is located at the right angle. The measurement data of the center coordinates of No. 1, No. 2, and No. 3 positioning reference holes on the web surface of 1# rib are spatial points O ₁ , H ₁ , and V ₁ , which correspond to spatial points O and H in the theoretical design data The spatial position deviation between V and V is represented by the coordinate value error of the point, that is, three vectors

The spatial position compensation of the 1# wing rib part includes the translation deviation compensation along the three coordinate axes and the rotation angle deviation compensation around the three coordinate axes. According to the layout setting of the assembly positioning datum point, the translational deviation compensation amount of the 1# wing rib part is the space coordinate deviation between the 1st assembly positioning datum point and the theoretical design point, and according to the formula

$\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\end{array}\right)<span\; class="notranslate">\; +</span>\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; b</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="3"\; label="b"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">b</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right)<span\; class="notranslate">\; ,</span>$

为经过平移补偿之后的装配定位基准点的空间位置，

为平移偏差补偿量，计算出在平移偏差补偿后的其他装配定位基准点的空间位置。1#翼肋零件的旋转角偏差补偿量为在对平移偏差补偿量进行补偿后，分别绕3个坐标轴方向旋转调整的角度值，该角度值由当前装配定位基准点与理论设计值之间的偏差估算得到，并且根据刚体运动学，在绕某个坐标轴完成旋转角度的补偿后，要根据公式in Locate the spatial position of the datum hole for the current assembly,

Position the spatial position of the datum point for the assembly after translation compensation,

The spatial position of other assembly positioning reference points after the translation deviation compensation is calculated as the translation deviation compensation amount. The rotation angle deviation compensation amount of 1# wing rib part is the angle value adjusted by rotating around the three coordinate axes respectively after compensating the translation deviation compensation amount. The deviation is estimated, and according to rigid body kinematics, after completing the compensation of the rotation angle around a certain coordinate axis, according to the formula

$\left(\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="z"\; filenames="HSA00000018891500011.png"\; state="\{\{state\}\}">z</figure-callout></span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\end{array}\right)<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; (</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; e</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; )</span>\left(\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}\\ \mathrm{<span\; class="notranslate">\; z</span>}\end{array}\right)<span\; class="notranslate">\; ,</span>$

为旋转轴，θ为绕该旋转轴进行补偿的角度值，

计算出此时其他装配定位基准孔的空间位置。in

is the rotation axis, θ is the angle value for compensation around the rotation axis,

Calculate the spatial position of other assembly positioning datum holes at this time.

Then, according to the spatial position compensation amount, a fine adjustment instruction for the spatial position of the assembly unit is generated. The assembly unit implements the fine adjustment of the spatial position according to the fine adjustment instruction. Again, use the laser tracker to measure the 3 positioning reference holes of the 1# rib part, and repeat the above process until the spatial position deviation of the 1# rib part is within the allowable range. The measurement results, spatial position error and compensation amount of 1# wing rib parts are shown in Table 4.

Table 4 Design and measurement data and calculation results of 1# wing rib

According to the above assembly and positioning process, the 2# rib, 3# rib and 4# rib of the leading edge flap are assembled and positioned sequentially.

Step 8: Connect spars to ribs, spars and hinges with fasteners.

Step 9: Assembly positioning of the skin.

The leading edge profile is preassembled on the rib and the skin is subsequently preassembled on the rib part.

Step 10: Connect the leading edge profile and each wing rib, the upper and lower skins, each wing rib and the leading edge profile.

Step 11: Remove the assembled leading edge flap components from the assembly platform.

The post-assembly inspection analysis phase includes the following steps:

Step 12: Detection of aerodynamic shape.

Place the assembled leading edge flap on a fixed workbench, and control the robot to scan and measure the aerodynamic shape of the upper skin with a laser scanner according to the planned path. Flip the leading edge flap over and do the same for the lower skin.

Step 13: Accuracy analysis of aerodynamic shape.

Input the measurement data of the upper and lower skins into the data processing center, compare with the theoretical design data and calculate various aerodynamic shape errors, and store the data number of the leading edge flap into the database. That is to say, in the self-developed error calculation and analysis function module of the data processing center, the calculation and analysis of the aerodynamic shape error is performed using the theoretical design data read in step 2 and the measurement data of the upper and lower skins, and the calculated The analysis results and the related data of the leading edge flap are numbered and stored in the database.

Claims (1)

1. assembly method based on the droope snoot of laser measuring technique, it is characterized in that: these method concrete steps are following:

Step 1: the present behavior of inspection assembly floor guarantees that all numerical control assembly units have revert to initial position;

Step 2: open the data processing center of assembly system, import essential Design Theory data, and generate corresponding numerical control program;

Step 3: the target that is used for laser tracking measurement is installed on 4 public-measurement point pedestals of assembly floor; With laser tracker 4 public-measurement points are measured successively; Utilize the coordinate data of these 4 public-measurement points to carry out the system of axes demarcation of laser measurement system, unify the system of axes of the system of axes of laser measurement system and assembly system;

Step 4: the data processing center of the coordinate data of 4 public-measurement points being imported assembly system; As the bench mark that is transformed into the take off data under the assembly system system of axes coordinate transformation process of Design Theory system of axes, calculate the transformation matrix of the coordinate transformation of carrying out take off data;

Wherein the The calculation of transformation matrix method is following:

According to formula $\left(\begin{array}{ccc}{x}_{S2}-x_{S1}& y_{S2}-y_{S1}& z_{S2}-z_{S1}\\ x_{S3}-x_{S1}& y_{S3}-y_{S1}& z_{S3}-z_{S1}\\ x_{S4}-x_{S1}& y_{S4}-y_{S1}& z_{S4}-Z_{S1}\end{array}\right)R=\frac{1}{\mathrm{\&lambda;}}\left(\begin{array}{ccc}{x}_{T2}-x_{T1}& y_{T2}-y_{T1}& z_{T2}-z_{T1}\\ x_{T3}-x_{T1}& y_{T3}-y_{T1}& z_{T3}-z_{T1}\\ x_{T4}-x_{T1}& y_{T4}-y_{T1}& z_{T4}-z_{T1}\end{array}\right),$ Wherein $\left(\begin{array}{c}{x}_{\mathrm{Si}}\\ y_{\mathrm{Si}}\\ z_{\mathrm{Si}}\end{array}\right),$ I=1,2,3,4 laser tracking measurement data for public-measurement point, $\left(\begin{array}{c}{x}_{\mathrm{Ti}}\\ y_{\mathrm{Ti}}\\ z_{\mathrm{Ti}}\end{array}\right),$ I=1,2,3, the 4 Design Theory data for public-measurement point are found the solution angular transformation matrix R; Again according to formula $\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right)=\frac{1}{\mathrm{\&lambda;}}\left(\begin{array}{c}{x}_{T1}\\ y_{T1}\\ z_{T1}\end{array}\right)-R\left(\begin{array}{c}{x}_{S1}\\ y_{S1}\\ z_{S1}\end{array}\right)$ Find the solution the translation transformation matrix $\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right);$ λ is a length factor, and its computing formula does $\mathrm{\&lambda;}=\frac{L_{T1}}{L_{S1}}=\frac{\sqrt{{(x_{T2}-x_{T1})}^2+{(y_{T2}-y_{T1})}^2+{(z_{T2}-z_{T1})}^2}}{\sqrt{{(x_{S2}-x_{S1})}^2+{(y_{S2}-y_{S1})}^2+{(z_{S2}-z_{S1})}^2}},$ At last, getting the data change type is: $\left(\begin{array}{c}{x}_T\\ y_T\\ z_T\end{array}\right)=\mathrm{\&lambda;}\left(\begin{array}{c}\mathrm{\&Delta;\; x}\\ \mathrm{\&Delta;\; y}\\ \mathrm{\&Delta;\; z}\end{array}\right)+\mathrm{\&lambda;\; R}\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right),$ Wherein $\left(\begin{array}{c}{x}_T\\ y_T\\ z_T\end{array}\right)$ Be the coordinate figure after the data transfer, $\left(\begin{array}{c}{x}_S\\ y_S\\ z_S\end{array}\right)$ Coordinate figure for take off data;

Step 5: the assembling and positioning of hinge;

The target pedestal that is used for laser tracking measurement is installed on the positioning reference hole of hinge, hinge is placed on the anchor clamps of numerical control assembly unit fixing and locking; Start the driving command of this hinge; The control assembly unit moves to the target location; With laser tracker measurement and positioning datum hole successively; The locus of the current assembling of hinge and the locus of Design Theory are compared, calculate the locus deviation of this hinge and the position compensation amount of each degree of freedom;

Its computation process is following:

The Design Theory locus in 2 positioning reference holes at the axle head point place of hinge is A ₀(x _A0, y _A0, z _A0), B ₀(x _B0, y _B0, z _B0), the real space position that Laser Tracking records is A ₁(x _A1, y _A1, z _A1), B ₁(x _B1, y _B1, z _B1), the locus deviation of axle head point then does

Get the mid point C of hinge axes ₁(x _C1, y _C1, z _C1), itself and theoretical axis mid point C ₀(x _C0, y _C0, z _C0) grid deviation be the translation compensation rate of hinge, promptly $\left(\begin{array}{c}{\mathrm{\&Delta;x}}^{\&prime;}\\ {\mathrm{\&Delta;y}}^{\&prime;}\\ {\mathrm{\&Delta;z}}^{\&prime;}\end{array}\right)=\frac{1}{2}\left(\begin{array}{c}{x}_{B1}-x_{A1}-x_{B0}+x_{A0}\\ y_{B1}-y_{A1}-y_{B0}+y_{A0}\\ z_{B1}-z_{A1}-z_{B0}+z_{A0}\end{array}\right);$ Calculate the angle compensation amount α of hinge according to two end points of axis, β, wherein

Calculate the actual normal vector e of hinge positioning reference plane according to the random point on 3 web faces that measure ₁, the web face normal vector e of itself and Design Theory ₀Between angle be the 3rd angle compensation amount γ;

The inching that generates assembly unit according to the locus compensation rate is instructed, and assembly unit is carried out this inching instruction and implemented the inching of locus; Measure the positioning reference hole of this hinge once more with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this hinge; According to above assembling and positioning process, other hinges of this droope snoot are carried out assembling and positioning successively;

Step 6: spar pre-assy;

Successively spar is pre-assembled on the hinge that assembling and positioning is good;

Step 7: the assembling and positioning of rib;

The target pedestal that is used for laser tracking measurement is installed on the positioning reference hole of rib, rib is placed on the anchor clamps of assembly unit fixing and locking; Start the driving command of this rib, the control assembly unit moves to the target location; With laser tracker measurement and positioning datum hole, the locus of the current assembling of rib and the locus of Design Theory are compared, calculate the locus deviation of this rib and the locus compensation rate of each degree of freedom;

Its method of calculating is following:

The take off data of the central coordinate of circle in No. 1, No. 2, No. 3 positioning reference hole on the rib web face is spatial point O ₁, H ₁, V ₁, and the locus deviation between the spatial point O in its theory of correspondences design information, H, V representes with the coordinate figure error of point, i.e. 3 vectors

The locus compensation rate of rib part comprises along the shifting deviation compensation rate of three change in coordinate axis direction with around the angle of rotation deviation compensation amount of three coordinate axlees; The shifting deviation compensation rate of rib part is the spatial coordinates deviation between No. 1 assembling and positioning bench mark and the Design Theory point, according to formula

$\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)=\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)+\left(\begin{array}{c}{b}_1\\ b_2\\ b_3\end{array}\right),$

Wherein $\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$ Be the locus of current assembling and positioning datum hole, $\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)$ Be locus through the assembling and positioning bench mark after the translation compensation, $\left(\begin{array}{c}{b}_1\\ b_2\\ b_3\end{array}\right)$ Be the shifting deviation compensation rate, calculate the locus of other assembling and positioning bench marks after the shifting deviation compensation; The angle of rotation deviation compensation amount of rib part is for after compensating the shifting deviation compensation rate; The angle value of adjusting around 3 change in coordinate axis direction rotations respectively; This angle value is obtained by the estimation of the deviation between current assembling and positioning bench mark and the Design Theory value; And according to rigid body kinematics, after accomplishing the compensation of the anglec of rotation, according to formula around certain coordinate axle

$\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)=R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})\left(\begin{array}{c}x\\ y\\ z\end{array}\right),$

Wherein

is S. A.; The angle value of θ for compensating around this S. A., and $R(\stackrel{\&RightArrow;}{e},\mathrm{\&theta;})=\left(\begin{array}{ccc}{e}_x^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}& e_x{e}_y(1-\cos \mathrm{\&theta;})-e_z\sin \mathrm{\&theta;}& e_x{e}_z(1-\cos \mathrm{\&theta;})+e_y\sin \mathrm{\&theta;}\\ e_x{e}_y(1-\cos \mathrm{\&theta;})+e_z\sin \mathrm{\&theta;}& e_y^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}& e_y{e}_z(1-\cos \mathrm{\&theta;})-e_x\sin \mathrm{\&theta;}\\ e_x{e}_z(1-\cos \mathrm{\&theta;})-e_y\sin \mathrm{\&theta;}& e_y{e}_z(1-\cos \mathrm{\&theta;})+e_x\sin \mathrm{\&theta;}& e_z^2(1-\cos \mathrm{\&theta;})+\cos \mathrm{\&theta;}\end{array}\right),$ Calculate the locus of other assembling and positioning datum holes this moment;

The locus inching that generates assembly unit according to the position compensation amount is instructed, and assembly unit is carried out this inching instruction and implemented the inching of locus; Once more, measure the positioning reference hole of this rib with laser tracker, and repeat said process, deviation in allowed limits up to the locus of this rib;

According to above assembling and positioning process, other ribs of this droope snoot are carried out assembling and positioning successively;

Step 8: connect spar and rib with fastener, connect spar and hinge with fastener;

Step 9: the assembling and positioning of covering; The leading edge section bar is pre-assembled on the rib, then covering is pre-assembled on the rib;

Step 10: connect leading edge section bar and each rib, covering and each rib and leading edge section bar up and down;

Step 11: the droope snoot that assembles is taken off from assembly floor;

Step 12: the detection of aerodynamic configuration;

The droope snoot that assembles is placed on the fixing bench board, and control robot is carried out the scanning survey of aerodynamic configuration with the path of laser scanner by planning to last covering; The upset droope snoot carries out identical operations to following covering;

Step 13: aerodynamic configuration precision analysis;

The up and down data processing center and the Design Theory data of the take off data input assembly system of covering are compared and calculate each item aerodynamic configuration error, and deposit the data number of this droope snoot in data bank.

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