飞机数字化装配系统中浮动入位技术研究
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摘要
飞机制造通常采用模块化的生产模式,先将零件、组件装配形成部件、再将大部件对接形成全机。在飞机数字化装配过程中,如何对飞机组件、部件进行支撑定位是一个十分重要的问题。考虑到飞机组件、部件需经过位姿调整以达到装配要求,其支撑通常通过多台三坐标数控定位器构成的调姿单元来完成,飞机组件或部件和定位器的终端球窝之间通过工艺球头形成球铰连接。如何使飞机组件、部件准确入位,即使工艺球头的球心和终端球窝的球心重合是飞机数字化装配中必须要解决的问题。本文在实验室团队项目经验总结的基础上,对常见的几种入位技术进行了总结和比较,重点研究了浮动入位方法,并设计了一种浮动入位装置来促使浮动入位方法的实现。
本文第一章介绍了飞机数字化装配的国内外研究现状,总结了飞机组件、部件的几种准确入位技术,给出了本文的研究意义、框架和结构；第二章介绍了飞机部(组)件的定位器支撑布局,论述了部(组)件姿态调整对工艺球头入位形式的要求,接着提出了浮动入位方法,通过对浮动入位工艺流程和适应区域等的分析,最后对浮动入位装置提出了具体的技术要求；第三章根据浮动入位方法及其对装置的技术要求,设计了一套浮动入位装置,将浮动入位装置划分为直线移动模块、浮动锁紧模块、位置反馈模块和球头入位模块,对各个模块进行了分析和设计,最后完成整套浮动入位装置的设计模型；第四章重点探讨了球头入位锁紧机构的设计方案,介绍了其整体结构,阐述了其工作原理和三种工作模式,计算了伺服电机到卡爪的传动比和卡爪提供的夹紧力,讨论了关键零件卡爪、工艺球头和球托等的制造工艺；第五章对顶块、连接螺钉、工艺球头和球托等受力较大、应力较为集中的危险零件进行了刚度或强度校核；第六章对全文进行了总结,指出论文取得的主要研究成果,并对下一步的工作进行了展望。
Modularization is a very common mode in the production of aircrafts. Firstly, parts and subassemblies are joined into large components. Then, large components are joined into the whole aircraft. During the process of aircraft digital assembly, it is important to choose the way to support subassemblies and large components. Considering their positions and postures are supposed to be adjusted, we usually employ a unit of several three coordinate numerical control localizers to support them. Several so-called ball-heads are fixed to the subassemblies or large components, and a so-called ball-socket is installed on the top of each localizer, each ball-head and the corresponding ball-socket form a ball joint. However, how to obtain an accurate support for subassemblies and components by ball joint, namely to make the ball-head and the ball-socket be concentric is a key problem. This dissertation summarizes and compares several position ensuring techniques based on the project experiences of my laboratory team. The position-following method is especially introduced to solve the problem mentioned above, and a corresponding position-following device is designed to fulfill the method.
In Chapter 1, the research and application status of aircraft digital assembly at home and abroad are introduced firstly, and then several position ensuring techniques are summarized. In the end of this chapter the background and overall framework of this dissertation are given.
In Chapter 2, the layout of localizers which support the subassemblies or large components is introduced firstly, then, The principle of position and posture adjustment of subassemblies or large components, requirements of ball-heads' position and posture are proposed, and then the position-following method is described, finally the requirements of position-following device are made clear.
In Chapter 3, a kind of position-following device is particularly designed, The designed device is divided into four modules which are the linear motion module, the locking module, the position feedback module and the ball-head supporting module. Each module is designed in detail and finally a whole position-following device is come into being.
In Chapter 4, the ball-head supporting module is discussed emphatically. The structure of the module is presented. The working principle and three working patterns are explained. The transmission rate from the servomotor to the claws and the force supplied by the claws are calculated. The manufacture processes of key parts such as claws, ball-heads and ball-sockets are discussed finally.
In Chapter 5, the stress or stiffness check of key parts which suffered large forces such as the blocks, the corresponding bolts, the ball-heads and ball-sockets is established.
In the final chapter, summary for the whole work is given, and the future work is expected.
本文第一章介绍了飞机数字化装配的国内外研究现状,总结了飞机组件、部件的几种准确入位技术,给出了本文的研究意义、框架和结构；第二章介绍了飞机部(组)件的定位器支撑布局,论述了部(组)件姿态调整对工艺球头入位形式的要求,接着提出了浮动入位方法,通过对浮动入位工艺流程和适应区域等的分析,最后对浮动入位装置提出了具体的技术要求；第三章根据浮动入位方法及其对装置的技术要求,设计了一套浮动入位装置,将浮动入位装置划分为直线移动模块、浮动锁紧模块、位置反馈模块和球头入位模块,对各个模块进行了分析和设计,最后完成整套浮动入位装置的设计模型；第四章重点探讨了球头入位锁紧机构的设计方案,介绍了其整体结构,阐述了其工作原理和三种工作模式,计算了伺服电机到卡爪的传动比和卡爪提供的夹紧力,讨论了关键零件卡爪、工艺球头和球托等的制造工艺；第五章对顶块、连接螺钉、工艺球头和球托等受力较大、应力较为集中的危险零件进行了刚度或强度校核；第六章对全文进行了总结,指出论文取得的主要研究成果,并对下一步的工作进行了展望。
Modularization is a very common mode in the production of aircrafts. Firstly, parts and subassemblies are joined into large components. Then, large components are joined into the whole aircraft. During the process of aircraft digital assembly, it is important to choose the way to support subassemblies and large components. Considering their positions and postures are supposed to be adjusted, we usually employ a unit of several three coordinate numerical control localizers to support them. Several so-called ball-heads are fixed to the subassemblies or large components, and a so-called ball-socket is installed on the top of each localizer, each ball-head and the corresponding ball-socket form a ball joint. However, how to obtain an accurate support for subassemblies and components by ball joint, namely to make the ball-head and the ball-socket be concentric is a key problem. This dissertation summarizes and compares several position ensuring techniques based on the project experiences of my laboratory team. The position-following method is especially introduced to solve the problem mentioned above, and a corresponding position-following device is designed to fulfill the method.
In Chapter 1, the research and application status of aircraft digital assembly at home and abroad are introduced firstly, and then several position ensuring techniques are summarized. In the end of this chapter the background and overall framework of this dissertation are given.
In Chapter 2, the layout of localizers which support the subassemblies or large components is introduced firstly, then, The principle of position and posture adjustment of subassemblies or large components, requirements of ball-heads' position and posture are proposed, and then the position-following method is described, finally the requirements of position-following device are made clear.
In Chapter 3, a kind of position-following device is particularly designed, The designed device is divided into four modules which are the linear motion module, the locking module, the position feedback module and the ball-head supporting module. Each module is designed in detail and finally a whole position-following device is come into being.
In Chapter 4, the ball-head supporting module is discussed emphatically. The structure of the module is presented. The working principle and three working patterns are explained. The transmission rate from the servomotor to the claws and the force supplied by the claws are calculated. The manufacture processes of key parts such as claws, ball-heads and ball-sockets are discussed finally.
In Chapter 5, the stress or stiffness check of key parts which suffered large forces such as the blocks, the corresponding bolts, the ball-heads and ball-sockets is established.
In the final chapter, summary for the whole work is given, and the future work is expected.
引文
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[14]蒋君侠,范子春,郭志敏,柯映林.适用于三段部件对接的柔性装配平台设计与优化[J].浙江大学学报(工学版),2010,44(9)：1798-1804
[15]郭志敏,蒋君侠,柯映林.基于POGO柱三点支撑的飞机大部件调姿方法[J].航空学报2009,30(7)：1319-1324
[16]Zhu Yongguo, Huang Xiang, Fang Wei, Li Shuanggao. Trajectory planning Algorithm Based on Quaternion for 6 DOF Aircraft Wing Automatic Position and Pose Adjustment Method[J]. Chinese Journal of Aeronautics, 2010,23(6):207-208
[17]何胜强.飞机数字化装配技术体系[J].航空制造技术,2010,23：32-37
[18]良辰.飞机自动化装配技术及设备应用调查报告[J].航空制造技术2011,19：54-55
[19]于勇,陶剑,范玉青.波音787飞机装配技术及其装配过程[J].航空制造技术,2009(14)：44-47
[20]李薇.数字化技术在飞机装配中的应用研究[J].航空制造技术,2004,8：24-29
[21]郭恩明.国外飞机柔性装配技术[J].航空制造技术,2009,9：28-32
[22]刘志存,孟飙,范玉青.飞机制造中数字化标准工装的定义与应用[J].计算机集成制造系统,2007,13(9)：1852-1858.
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