The invention discloses an aircraft fork ear type wing body flexible butt joint assembly device, method and system.The device comprises a laser tracker, a three-dimensional force sensor, an industrial camera, a numerical control positioner, a posture adjusting controller and a PC upper computer, and different from a conventional wing body butt joint assembly device, the aircraft fork ear type wing body flexible butt joint assembly method is provided, and the aircraft fork ear type wing body flexible butt joint assembly device has the advantages that the aircraft fork ear type wing body flexible butt joint assembly efficiency is improved; interference force/torque information in the wing body butt joint assembly process is obtained in real time through a three-dimensional force sensor, interference force/interference torque in the wing body assembly process is accurately obtained through a fork ear type wing body assembly interference/interference torque solving model, and the interference force/torque is solved into the wing pose adjustment amount through a PSO-BP variable impedance control model. The method effectively solves the problems of aircraft wing body assembly interference and jamming caused by manufacturing errors, motion errors and assembly errors, realizes the flexible butt joint assembly of the fork ear type wing body, and improves the butt joint quality and efficiency of the wing body.
本发明公开了一种飞机叉耳式翼身柔顺对接装配装置、方法及系统,该装置包括激光跟踪仪、三维力传感器、工业相机、数控定位器、调姿控制器和PC上位机,不同于常规的翼身对接装配装置,本发明提供的一种飞机叉耳式翼身柔顺对接装配方法,利用三维力传感器实时获取翼身对接装配过程中的干涉力/力矩信息,利用叉耳式翼身装配干涉/干涉力矩求解模型精准获取翼身装配过程中的干涉力/干涉力矩,利用PSO‑BP变阻抗控制模型将干涉力/力矩解算为机翼位姿调整量,并逆解为各数控定位器的驱动量,有效解决了由于制造误差、运动误差、装配误差导致的飞机翼身装配干涉和卡阻问题,实现了叉耳式翼身的柔顺对接装配,提高了翼身对接质量和效率。
Aircraft wing body flexible butt joint assembly device, method and system
一种飞机翼身柔顺对接装配装置、方法及系统
27.08.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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