轻型自主移动钻铆系统定位检测与自适应规划  

Positioning Detection and Adaptive Planning for Lightweight Autonomous Mobile Drilling and Riveting System

作　　者：肖亮 田威[1] 邱燕平 张旋[1] 向勇[1] XIAO Liang;TIAN Wei;QIU Yanping;ZHANG Xuan;XIANG Yong(College of Mechanical and Electronic Engineering,Nanjing University of Aeromautics and Astronautics,Nanjing 210016,China;Jiangxi Hongdu Aviation Industy Group Corporation Ltd.,Nanchang 330024,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]江西洪都航空工业集团有限责任公司,江西南昌330024

出　　处：《机械制造与自动化》2020年第1期141-145,共5页Machine Building & Automation

基　　金：国家自然科学基金项目(51475225)。

摘　　要：定位检测是飞机机身部件自动化钻铆的技术基础,是提高系统定位精度的技术保证。根据大飞机机身筒段对接钻铆需求,研制了一套基于CCD相机定位检测的轻型自主移动钻铆系统。针对复杂加工系统和多样化基准形式,提出了多坐标系建立及转换方法和定位检测与加工任务自适应规划策略,通过检测不同基准位置,建立各坐标系关联,分别采用最小二乘法和间接转换法获得实际位置与理论位置的偏差模型,修正了待加工产品数模偏差和工装及产品制造与安装误差,对待加工孔位信息进行自适应规划。实验表明,定位检测方法切实可行,能实现系统高精度钻铆的精确定位。Positioning detection is technologically basic to automatic drilling and riveting of aircraft fuselage components,and it is used to provide the technical guarantee for improving the accuracy of the system positioning.According to the urgent need for butt drilling and riveting of large aircraft fuselage barrel segment,a lightweight autonomous mobile drilling and riveting system is developed based on CCD camera positioning detection.Aiming at the complex processing system and diversified reference forms,the establishment and transformation method of multi-coordinate system and the strategy for positioning detection and adaptive planning of processing tasks are proposed.The coordinate system correlation is established by detecting different reference positions,and the deviation model between the actual position and the theoretical position is obtained by the least squares method or the indirect conversion method respectively,so that the digital model deviation of the product to be processed and the manufacturing and installation errors of the tooling and the product are corrected.According to the adaptive planning,the hole position information is processed.Experimental results show that the positioning detection method is feasible and can be used to achieve precise positioning of the system with high precision drilling and riveting.

关 键 词：飞机装配 定位检测 坐标转换 偏差模型 自适应规划 

分 类 号：V262.4[航空宇航科学与技术—航空宇航制造工程]