数字化协同测量在飞机弱刚性零件加工中的应用
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摘要
针对飞机弱刚性蒙皮零件的高精度加工要求,通过机器人铣削系统协同标定、蒙皮边界提取与逆向建模、末端执行器定位修正等技术研究,实现飞机蒙皮、口盖、壁板类结构件边部余量检测及加工在线修正,边界测量精度0.1mm,末端执行器定位误差不大于0.2mm。经验证,本研究满足了四代机制造对数字化测量的要求,显著提高了飞机蒙皮壁板自动化铣削和数字化水平,促进了飞机制造从传统的手工装配向智能化装配模式的跨越。
Aiming at the high precision machining for weak rigid parts of aircraft, the digital measure technologies including collaborative calibration for robot milling system, edge extracting and reverse modeling of skins, and positioning correction of end-effector were developed. Based on the above measure of edge machining allowance and on-line correction of machining process, the measurement error of skin edge was 0.1 mm and end-effector positioning error was no more than 0.2 mm for skin, cover and panel of aircraft. The digital collaborative measure in this paper meets the requirements of digital measurement for advanced aircraft manufacture, improves level of automatization and digitization for skin and panel milling of aircraft, and accelerates the progress from handwork assembly to intelligent assembly.
Aiming at the high precision machining for weak rigid parts of aircraft, the digital measure technologies including collaborative calibration for robot milling system, edge extracting and reverse modeling of skins, and positioning correction of end-effector were developed. Based on the above measure of edge machining allowance and on-line correction of machining process, the measurement error of skin edge was 0.1 mm and end-effector positioning error was no more than 0.2 mm for skin, cover and panel of aircraft. The digital collaborative measure in this paper meets the requirements of digital measurement for advanced aircraft manufacture, improves level of automatization and digitization for skin and panel milling of aircraft, and accelerates the progress from handwork assembly to intelligent assembly.
引文
[1]夏磊,何薇,王志坚·弱刚性零件高效加工工艺研究及实践[J]·航空制造技术,2015, 58(S1):52-54.XIA Lei, HE Wei, WANG Zhijian·Research and pratice of high-efficiency processing technology on weak rigid part[J]·Aeronautical Manufacturing Technology, 2015,58(S1):52-54.
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[6]朱永国,黄翔,方伟,等·机身调姿方法及误差分析[J]·南京航空航天大学学报,2011,43(2):229-234.ZHU Yongguo, HUANG Xiang, FANG Wei, et al·Fuselage automatic position and pose adjustment method and its error analysis[J]·Journal of Nanjing University of Aeronautics&Astronautics, 2011, 43(2):229-234·
[7]赵建国,刘新宇,于思阳·飞机大型复杂构件三维数字化协同测量方法研究[J].航空制造技术,2018,61(5):55-59.ZHAO Jianguo, LIU Xinyu, YU Siyang·Research of three dimensional collaborative measurement of aircraft large complicated components[J]·Aeronautical Manufacturing Technology, 2018, 61(5):55-59.
[8]赵建国,邓春利,郭洪杰,等·飞机装配协同测量技术应用[J]·航空制造技术,2018,61(13):55-59·ZHAO Jianguo, DENG Chunli, GUO Hongjie,et al·Application on cooperative measure technology for aircraft assemblly[J]. Aeronautical Manufacturing Technology,2018,61(13):59-62.
[9]马骊群,曹铁泽,王继虎,等·大尺寸坐标测量技术在大型部件装配应用中的若干问题[J]·计测技术,2013(2):7-11-MA Liqun, CAO Tieze, WANG Jihu, et al·Discussion on inspecting the assembling components by using large volume metrology instruments[J]·Metrology&Measurement Technology, 2013(2):7-11
[10] American Society of Mechanical Engineers·ASME B89·4·19-2006·Performance evaluation of laser based spherical coordinate measurement systems[S]·Gaithemburg:U·S·Department of Commerce, 2006·
[11]周闻青,冷建兴,叶欣,等·基于U S M N的大型操纵性水池基础轨道空间位置测量方法研究[J]·计测技术,2016, 36(3):10-13-ZHOU Wenqing, LENG Jianxing, YE Xin,et al·A measurement method of maneuvering tank rotary bridge based on USMN[J]·Metrology&Measurement Technology, 2016, 36(3):10-13.
[2] NUBIOLA A, BONEV I A·Absolute calibration of an ABB IRB 1600 robot using a laser tracker[J]·Robotics and Computer-Integrated Manufacturing, 2013, 29(1):236-245.
[3] ESTLER W T, EDMUNDSON K L, PEGGS G N, et al·Large-scale metrologyan update[J]. Annals of the CIRP,2002,51(2):587-609·
[4] PEGGS G N,MAROPOULOS P G,HUGHES E B, at al. Recent developments in large-scale dimensional metrology[J]·Proceedings of the Institution of Mechanical Engineers,PartB:Journal of Engineering Manufacture,2009, 223(6):571-595·
[5]刘洋·机器人标定关键技术研究[D]·武汉:华中科技大学,2016·LIU Yang·Key technology of industrial serial robot calibration[D]·Wuhan:Huazhong University of Science and Technology, 2016·
[6]朱永国,黄翔,方伟,等·机身调姿方法及误差分析[J]·南京航空航天大学学报,2011,43(2):229-234.ZHU Yongguo, HUANG Xiang, FANG Wei, et al·Fuselage automatic position and pose adjustment method and its error analysis[J]·Journal of Nanjing University of Aeronautics&Astronautics, 2011, 43(2):229-234·
[7]赵建国,刘新宇,于思阳·飞机大型复杂构件三维数字化协同测量方法研究[J].航空制造技术,2018,61(5):55-59.ZHAO Jianguo, LIU Xinyu, YU Siyang·Research of three dimensional collaborative measurement of aircraft large complicated components[J]·Aeronautical Manufacturing Technology, 2018, 61(5):55-59.
[8]赵建国,邓春利,郭洪杰,等·飞机装配协同测量技术应用[J]·航空制造技术,2018,61(13):55-59·ZHAO Jianguo, DENG Chunli, GUO Hongjie,et al·Application on cooperative measure technology for aircraft assemblly[J]. Aeronautical Manufacturing Technology,2018,61(13):59-62.
[9]马骊群,曹铁泽,王继虎,等·大尺寸坐标测量技术在大型部件装配应用中的若干问题[J]·计测技术,2013(2):7-11-MA Liqun, CAO Tieze, WANG Jihu, et al·Discussion on inspecting the assembling components by using large volume metrology instruments[J]·Metrology&Measurement Technology, 2013(2):7-11
[10] American Society of Mechanical Engineers·ASME B89·4·19-2006·Performance evaluation of laser based spherical coordinate measurement systems[S]·Gaithemburg:U·S·Department of Commerce, 2006·
[11]周闻青,冷建兴,叶欣,等·基于U S M N的大型操纵性水池基础轨道空间位置测量方法研究[J]·计测技术,2016, 36(3):10-13-ZHOU Wenqing, LENG Jianxing, YE Xin,et al·A measurement method of maneuvering tank rotary bridge based on USMN[J]·Metrology&Measurement Technology, 2016, 36(3):10-13.