A base coordinate system calibration method for an aircraft panel horizontal automatic drilling and riveting machine

Abstract

The present invention discloses a base coordinate system calibration method of an aircraft panel horizontal automatic drill riveter. The method comprises the following steps: 1) setting dead center positions of a rammer tight side machine tool and a drilling sprigging side machine tool in the aircraft panel horizontal automatic drill riveter, and drawing a coordinate system definition diagram; 2) respectively installing reflectors for measurement of a laser tracker at the machine tools at two sides of the aircraft panel horizontal automatic drill riveter, and appropriately arranging the laser tracker; 3) controlling translational shafts of two numerical control positioning devices in the aircraft panel horizontal automatic drill riveter to move to assigned positions in order, obtaining position coordinates of the reflectors on the two devices through tracking measurement of the laser tracker, fitting a straight line to express as the coordinate axis direction of each numerical control positioning device base coordinate system, and establishing the real positioning pose model of the base coordinate systems of the two numerical control positioning devices; 4) calculating the rotation matrix and the translation matrix from the base coordinate systems of the two numerical control positioning devices to a measurement coordinate system, and obtaining relative pose transformation matrixes R and T between the base coordinate systems of the two numerical control positioning devices.

Description

technical field [0001] The invention relates to the field of aircraft assembly technology and equipment, in particular to a method for calibrating a base coordinate system of an aircraft wall plate horizontal automatic drilling and riveting machine. Background technique [0002] As an extremely important part of aircraft manufacturing, aircraft assembly determines the final quality, manufacturing cost and delivery cycle of the aircraft to a large extent, and is the key and core technology in the entire aircraft manufacturing process. Since a large number of hole making and fastener connection processes are involved in the aircraft assembly process, the quality and efficiency of hole making and fastener connection will become an important factor affecting the overall assembly quality and efficiency of the aircraft. [0003] The horizontal automatic drilling and riveting machine for aircraft siding is an important equipment for hole making and fastener connection in aircraft a...

AI Technical Summary

Problems solved by technology

However, the calibration process needs to know the transformation relationship from the equipment base coordinate system to the equipment TCP coordinate system, and the transmission path of the coordinate system in the calibration is complicated, which increases the possibility of error introduction

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