Research On Drilling Normal Correction Technology With Automatic Horizontal Dual-machine Cooperative Drilling And Riveting System

Automatic drilling and riveting technology is one of the key technologies for aircraft digital assembly.The quality of drilling and riveting directly affects the assembly quality and fatigue life of aircraft.The perpendicularity of the hole is an important factor affecting the riveting quality.If the vertical deviation of the hole is too large,the depth of the countersink,the flatness of the nail head,and the height of the pier head will be difficult to guarantee.To this end,this paper uses the new automatic horizontal dual-machine cooperative drilling and riveting system as a platform to study the single hole normal correction method and the porous normal correction method in the wall plate drilling and riveting to improve the quality of the riveting and the efficiency of drilling and riveting.The main research contents and innovations of the thesis are as follows:The important role and development status of automatic drilling and riveting technology and normal correction technology in aircraft assembly are expounded.The structure and characteristics of the new automatic horizontal dual-machine cooperative drilling and riveting system are introduced in detail,and the specific process flow of the system in the automatic drilling and riveting of aircraft siding is summarized.A single-hole normal measurement method based on spherical fitting is proposed.The method uses the data measured by four laser displacement sensors to fit the measured area to the spherical surface and calculate the normal information of the hole to be tested.The simulation results show that the normal accuracy obtained by this method is better than the traditional normal measurement method,and good normal accuracy can be ensured for large curvature wall panels.A method for correcting hole position and normal synchronization based on hole position offset is proposed.The method utilizes the theoretical position,theoretical normal direction,actual position and actual normal direction of the four reference holes in the area to be processed,and can calculate the actual position and normal information of all the holes to be processed in the area,and realize the position and the normal direction.Synchronous correction to improve the efficiency of automated drilling and riveting.In order to analyze the normal correction accuracy of the method,the normal correction error model is constructed.The influencing factors of the normal correction error are studied,and the practical application conditions of the method are given.The effectiveness of the normal correction method is verified by the new automatic horizontal dual-machine cooperative drilling and riveting system.The test results show that the normal correction error of the synchronous correction method is about 0.05°,and the maximum error is less than 0.12°,which satisfies the requirement of drilling perpendicularity of automatic drilling and riveting.Finally,the research content of the full text is summarized,and the future research work is prospected.