自动制孔法向激光干涉情况下的法矢延用研究  

Study on the Application of Normal Value of Automatic Drilling and Riveting Laser Sensor in Interference Structure

作　　者：姜森 曾天 张春亮 闫利青 柳峻达 高鹏辉 JIANG Sen;ZENG Tian;ZHANG Chunliang;YAN Liqing;LIU Junda;GAO Penghui(Manufacturing Engineering Department,AVIC Jiangxi Hongdu AviationIndustry Group Ltd.,Nanchang 330024,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]江西洪都航空工业集团制造工程部,江西南昌330024 [2]南京航空航天大学机电学院,江苏南京210016

出　　处：《成组技术与生产现代化》2023年第1期1-5,13,共6页Group Technology & Production Modernization

基　　金：国家自然科学基金资助项目(51875287);国防基础科研计划资助项目(JCK2018605C002);国家重点研发计划资助项目(2018YFB1306800)。

摘　　要：利用在理论数模中找出与制孔法向激光干涉点的法向值相近点位的方法,结合程序自动沿用相近点位的法矢,解决自动钻铆机器人在飞机机翼外形上钻锪过程中,由于机翼结构复杂多样,激光传感器的光束与机翼外形轮廓或口盖等复杂结构发生干涉,无法进行有效的法向校正,致使制孔法向存在较大偏差的问题。试验分析发现,法矢延用方法的制孔法向偏差小于0.5°。研究结果表明,法矢延用方法能有效解决航空装配制造中自动钻铆机器人制孔的法向激光干涉问题,为自动钻铆技术在航空领域的应用提供经验。Using the theory of the mathematical model to find and hole method similar with the value point of the laser interference,the method of combining program automatically using vector of similar point values to solve the automatic drilling and riveting robot on the wing shape in the process of drilling and economic because of wing structure is complex,the beam shape of the laser sensor with wings outline or flap complex structures,such as interference,cannot effectively correct the problem of larger deviation.Through the test analysis system,the method of the hole precision is less than 0.5°,so this method is effective to solve the current aviation industry assembly and manufacture of automatic drilling and riveting robot method to the laser interference problem when making a hole,for the automatic drilling and riveting technology provides the valuable experience in the field of aviation.

关 键 词：自动钻铆机器人 法向特征提取 法向补偿 激光传感器 

分 类 号：TH161[机械工程—机械制造及自动化]