【作者】 李猛；

【导师】 王永青；

【作者基本信息】 大连理工大学 ， 机械电子工程， 2015， 硕士

【摘要】 在航空航天等国家重点工程建设领域中,存在一类复合材料简体与金属端框组合结构的大型筒段部件,其制造质量直接影响着装备的整体性能。由于成型后的复合材料简体和加工后的金属端框尺寸误差相对较大,误差终端累积效应不可忽略。这类大型筒段对接装配往往依赖人工经验的反复试装,效率低、质量稳定性差。将现代在线检测技术与传统对装工艺有机结合,为该类大型筒段精确对装提供了有效途径。本文以中国运载火箭技术研究院委托项目为依托,针对大型简体-端框对接装配难题,开展对接装配在线检测方法及系统研究。针对工件几何尺寸大、结构刚度低、误差终端累积效应显著等特征所引起的大型简体-端框对装问题,分析了现有大型筒体-端框对装方式的不足,研究了一种基于过程参量在线反馈的精确对装新方法；设计了筒体和端框的圆跳动、对装缝隙等多参量同步在线检测方案；研究了各测量信息获取方法及相关技术,并对图像传感器进行了标定实验。为提高大型部件简体-端框对接过程中的装配调整效率,开展了大型筒体-端框对接装配位姿计算与调整方法的研究。利用大型筒段装配对接面的实际测量信息,建立了大型筒段位姿的数学模型,求解了筒体动态位姿的调整参量,进而为指导大型筒段装配位置和姿态的调整提供数据支持。基于"PC+ARM"的结构形式构建了对装过程在线检测系统,在现有对接工装基础上设计了执行系统测量动作的在线检测机构：采用模块化手段规划了大型简体-端框在线检测控制系统的功能模块,解决了测量数据实时采集、无线通信及机构运动控制等问题,同时利用VB开发在线检测系统多功能用户操作界面,实现人机交互功能。最后,将所研制的在线检测系统实际运用于某大型筒体-端框对接装配中,验证了所研制的在线检测方法及系统对提高对装精度和对装效率的有效性。更多还原

【Abstract】 There are a vast of large cylinder parts in the national key projects field of aerospace, which are composed of composite material cylinder and metal end-frame. The manufacturing quality of these parts directly affects the overall performance of equipment. The error terminal cumulative effect cannot be neglected because dimension errors of composite material cylinder after forming and metal end-frame after processing are relatively large. Generally, the butt assembly of large cylinder parts depends on repeated trial assembly and artificial experience, which results in low efficiency and low quality stability. Combining traditional butt assembly technology and modern online detection technology systematically becomes an effective way for butt assembly of large cylinder parts. This paper is supported by the project commissioned by China Academy of Launch Vehicle Technology. It focuses on the butt assembly problems of large cylinder and end-frame and studies the online detection methods and system of butt assembly.Aiming at the butt assembly problem of large cylinder and end-frame due to large size, low stiffness and significant error terminal cumulative effect, the deficiency of existing butt mode is analyzed and a novel precision butt assembly method based on process parameter online feedback is presented in this paper. A multi-parameters including circular run-out and butt assembly gap of cylinder and end-frame synchronous online measurement scheme is designed. Besides, Acquisition method and related technology of measurement information is studied, and calibration experiment of the image sensor is completed.To get higher assembly efficiency during the assembly process of large cylinder and end-frame, a novel posture calculation and adjustment method of butt assembly are proposed in this paper. Based on the measurement information of multi-parameters of butt assembly, a mathematical model is established to describe the posture of the large cylinder, which is used to calculate the adjustment parameters to realize the precise adjustment of the posture of the large cylinder during the assembly process.Based on "PC+ARM" structure form, an online detection system for butt assembly process is constructed. Online detection mechanism on the basis of the existing butt frock is designed to perform the measurement operation. With modularization method, function modules of online detection system for large cylinder and end-frame are programmed to realize real-time measurement data acquisition, wireless communications and mechanism motion control besides, multifunctional user interface of online detection system is designed with VB to realize interaction between human and computer.Finally, the developed online detection system actually is applied to the butt assembly process of certain large cylinder and end-frame to validate the accuracy and efficiency of the developed online detection method and system.更多还原