CN105728811A - A method and system for robotized spiral hole-making in laminated structure of aircraft fuselage - Google Patents

Abstract

The invention discloses a method and system for robotized spiral hole-making in laminated structures of aircraft fuselages. Firstly, a pressing mechanism is used to compress the laminated hole-making area of the fuselage; The rotation speed n _s1 , the low revolution speed n _ω1 , and the large feed pitch P ₁ are used to perform spiral hole drilling on the top layer member; then, the high rotation speed, low revolution speed, and large feed pitch of the tool are controlled by n _s1 , n _ω1 , and P ₁ are adjusted to match n _s2 , n _ω2 , and P ₂ of the underlying member material; finally, the underlying member is spirally drilled with n _s2 , n _ω2 , and P ₂ . The system mainly includes an industrial robot with a seventh axis and a helical hole-making actuator. The invention is beneficial to the reliable connection between the spiral hole-making actuator and the robot platform, and can significantly improve the efficiency and quality of the spiral hole-making in a stacked structure.

Description

A method and system for robotized spiral hole-making in laminated structure of aircraft fuselage

technical field

The invention belongs to the field of automatic hole-making in aircraft digital assembly, and in particular relates to a method and system for robotized spiral hole-making in laminated structures of aircraft fuselages.

Background technique

CFRP and aluminum alloy, titanium alloy and other lightweight alloy laminated components are widely used in aircraft wings, central wing boxes, fuselage and other components due to their excellent comprehensive properties such as light weight, high strength, and corrosion resistance. While this kind of laminated component brings new opportunities to the development of the aviation industry, its processing difficulties and related research have also attracted great attention from scholars at home and abroad. Relevant research results show that how to reduce the axial force of drilling, reasonably control the drilling temperature, and realize the efficient drilling of CFRP/light alloy laminated components with fewer defects and no defects has always been a difficult problem in the processing of aerospace laminated components.

When conventional drilling is used to form a laminated structure of titanium alloy and CFRP, since CFRP and titanium alloy have completely different mechanical and thermal properties, and the mechanism of tool wear when drilling CFRP is completely different from that of drilling titanium alloy, a The integrated hole-making of laminated components with cutter materials and drills with the same geometric parameters will inevitably accelerate tool wear and affect the processing quality of holes, and the sudden change between layers of laminated components often leads to serious damage at the bonding surface. Hole defects. Especially as the thickness and diameter of the connecting holes of laminated components continue to increase, the problems affecting the drilling quality such as chip removal, heat dissipation, and tool wear become more prominent.

The emerging helical milling hole can greatly reduce the axial force of hole making, and its open cutting is also convenient for chip removal and heat dissipation, so it has obvious advantages in suppressing the defects of CFRP and titanium alloy veneer hole making. In order to improve the machining quality of holes, the existing helical milling holes generally use small pitch feed (the axial feed pitch is less than 0.5mm), which will seriously affect the processing efficiency of helical milling holes in laminated components. From the perspective of the influence of the axial feed pitch p on the performance of processing equipment, such equipment currently mainly includes two types of machine tools and helical milling devices. For machine tools, the revolution motion of the helical milling hole is usually realized by the cooperation of the worktable and the spindle, and the hole-making tool will not be affected by centrifugal force. The helical hole milling device is usually composed of a tool revolution mechanism, a tool rotation mechanism, an axial feed mechanism, and a revolution radius adjustment mechanism. The revolution movement is independently generated by the device itself, so the rotating components of the device will be subjected to a periodically changing centrifugal force function, thus causing a certain forced vibration of the whole device. When the helical milling device is designed with small pitch feed p and high revolution speed n, the device is prone to rotation imbalance due to the mass eccentricity of the rotating components, which will cause equipment vibration and cause premature damage to bearings, couplings and other parts. Therefore, when the helical milling process is applied to the robotized helical drilling system of the fuselage stacked structure, in order to ensure the processing stability of the automatic drilling system, the helical milling hole should be fed with a large pitch.

Contents of the invention

The technical problem to be solved by the present invention is that it is difficult to use traditional drilling to make holes in the large-diameter connecting holes of the laminated assembly of the aircraft fuselage structure, and the existing small-pitch feed has low efficiency in processing laminated structures and unfavorable terminal hole-making execution. Problems such as the installation of the device and the robot platform.

In order to solve the above-mentioned technical problems, the present invention provides a method for robotized spiral hole making for aircraft fuselage stacked structures, which is applied to a robotized spiral hole making system, comprising the following steps:

(1) According to the diameter of the tool and the diameter of the hole to be made on the laminated structure of the fuselage, adjust the tool revolution radius e to the required setting value;

(2) The tool performs spiral drilling on the top layer member by matching the high rotation speed n _s1 , low revolution speed n _ω1 and large feed pitch P ₁ of the top layer member material;

(3) At the interface of the stacked structure of the fuselage, the high rotation speed, low revolution speed, and large feed pitch of the tool are adjusted from n _s1 , n _ω1 , and P ₁ matching the top-layer component material to n matching the bottom-layer component material _s2 , _nω2 , P2 _;

(4) The cutter performs helical drilling on the bottom member by matching the high rotation speed n _s2 , the low revolution speed n _ω2 and the large feed pitch P ₂ of the bottom member material;

Wherein, the laminated structure of the fuselage is formed by laminating the top layer member and the bottom layer member, the material of the top layer member is carbon fiber composite material, the material of the bottom layer member is titanium alloy or aluminum alloy, and the large feed pitch P ₁ and the maximum feed pitch P ₂ are the axial feed when the tool rotates one revolution; when the bottom member is used for spiral hole making, the maximum feed pitch P ₂ is not less than 1mm; when the top layer member is used for spiral hole making, The large feed pitch P1 is not less _than 0.5 mm.

Further, the high rotation speeds n _s1 and n _s2 and the low revolution speeds n _ω1 and n _ω2 need to meet the following conditions:

Among them, T is the optimal time for making holes in the stacked structure of the fuselage, δ ₁ is the thickness of the top layer member, δ ₂ is the thickness of the bottom layer member, M is the working eccentric mass of the screw hole making actuator, and F is the robotized screw making The critical force at which cutting chatter occurs in the hole system, and the screw hole-making actuator is an actuator of the robotized screw hole-making system.

Further, the method includes the steps of: (1) compressing the hole-making area of the laminated structure of the fuselage by using a compacting and chip-removing mechanism, and the compacting and chip-removing mechanism is fixed on the helical hole-making actuator.

A robotic spiral hole-making system, which applies the above-mentioned robotized spiral hole-making method for aircraft fuselage stacked structures, including an industrial robot (200) with a seventh axis and a screw hole-making actuator (300); The industrial robot (200) with the seventh axis includes a six-degree-of-freedom industrial robot (201) and a one-dimensional motion platform (202) that can move along the seventh axis, and the six-degree-of-freedom industrial robot (201) is installed on a On a one-dimensional motion platform (202) moving along the seventh axis; the screw hole making actuator (300) includes a fixed seat (310), a guide rail (320), an axial feed mechanism (330), a revolution mechanism (340 ), the eccentric adjustment mechanism (350) and the rotation mechanism (360), the axial feed mechanism (330), the revolution mechanism (340), the eccentric adjustment mechanism (350) and the rotation mechanism (360) are equipped with an electric motor Driving device, the guide rail (320) is arranged on the fixed seat (310), the axial feed mechanism (330) drives the revolution mechanism (340) to move along the guide rail (320), and the eccentric adjustment mechanism (350) Set on the revolution mechanism (340), the self-rotation structure (360) is set on the eccentric adjustment mechanism (350), the self-rotation structure (360) is used to set the tool; the screw hole making actuator (300) is fixed by A seat (310) is provided on an industrial robot (200) having a seventh axis.

Further, it also includes a pressing chip removal mechanism for pressing the stacked structure (100) of the fuselage, the pressing chip removal mechanism includes a bottom plate (353) arranged at the end of the guide rail (320), a hollow presser foot (351 ) and a chip removal duct (352), the chip removal duct (352) is arranged on the hollow presser foot (351), and the hollow presser foot (351) is arranged on the bottom plate (353).

Compared with the prior art, the beneficial effects of the present invention are: (1) by increasing the axial feed pitch, the hole-making efficiency of the stacked structure of the fuselage can be significantly improved; (2) by increasing the axial feed pitch , while maintaining the efficiency of screw hole-making with a small axial feed pitch, it can reduce the revolution speed of the terminal hole-making actuator, thereby suppressing the excitation force caused by the mass eccentricity of the terminal hole-making actuator; (3) using the screw The rotation, revolution and axial feed of the tool for hole making are independently controlled to realize the adjustment of high rotation speed, low revolution speed and large feed pitch at the interface of laminated components in spiral hole making, which helps to ensure Hole making quality of different components; (4) Using matching high rotation speed, low revolution speed and large feed pitch for different components can help improve the quality and efficiency of hole making in laminated structures, and also help reduce tool wear.

Description of drawings

Fig. 1 is a schematic diagram of the hole making method of the present invention;

Fig. 2 is a schematic diagram of the hole making system of the present invention;

Fig. 3 is a schematic diagram of the industrial robot with the seventh axis in Fig. 2;

FIG. 4 is a schematic diagram of the screw hole-making actuator in FIG. 2 .

detailed description

As shown in Fig. 1, a kind of method for the robotized spiral hole making of stacked structure of aircraft fuselage, it is applied to the robotized screw hole making system, comprises the following steps:

(1) According to the diameter of the tool and the diameter of the hole to be made on the laminated structure of the fuselage, adjust the tool revolution radius e to the required setting value;

(2) The tool 8 performs spiral drilling on the top layer member 101 by matching the high rotation speed n _s1 , low revolution speed n _ω1 and large feed pitch P ₁ of the top layer member material;

(3) At the interface 103 of the stacked structure of the fuselage, the high rotation speed, low revolution speed, and large feed pitch of the cutter are adjusted from n _s1 , n _ω1 , and P ₁ matching the top-layer component material to those matching the bottom-layer component material n _s2 , n _ω2 , P ₂ ;

(4) The tool performs helical drilling on the bottom member 102 by matching the high rotation speed n _s2 , low revolution speed n _ω2 and large feed pitch P ₂ of the bottom member material;

Wherein, the laminated fuselage structure 100 is formed by laminating a top layer member 101 and a bottom layer member 102, the material of the top layer member 101 is carbon fiber composite material, the material of the bottom layer member 102 is titanium alloy or aluminum alloy, and the large The feed pitch P ₁ and the maximum feed pitch P ₂ are the axial feed when the tool rotates one revolution, which is the product of the axial drive speed n _p and the pitch a _p of the feed screw; the bottom member 101 is screwed When making a hole, the large feed pitch P ₂ is not less than 1 mm; when the top layer member 102 is spirally drilled, the large feed pitch P ₁ is not less than 0.5 mm, and the center line 0 ₁ -0 ₁ is the tool revolution center line , which is the centerline of the hole to be made; the centerline 0 ₂ -0 ₂ is the centerline of tool rotation.

Further, the high rotation speeds n _s1 and n _s2 and the low revolution speeds n _ω1 and n _ω2 need to meet the following conditions:

Among them, T is the optimal time for making holes in the stacked structure of the fuselage, δ ₁ is the thickness of the top layer member, δ ₂ is the thickness of the bottom layer member, M is the working eccentric mass of the screw hole making actuator, and F is the robotized screw making The critical force at which cutting chatter occurs in the hole system, and the screw hole-making actuator is an actuator of the robotized screw hole-making system.

Preferably, the steps include: (1) compressing the hole-making area of the stacked structure of the fuselage by using a compacting and chip-removing mechanism, and the compacting and chip-removing mechanism is fixed on the helical hole-making actuator. The main purpose is to keep the screw hole-making actuator in contact with the stacked structure of the fuselage during processing, which can reduce the vibration of the screw hole-making actuator, thereby improving the machining accuracy.

As shown in FIG. 2 , a robotized spiral hole-making system, which applies the above-mentioned robotized spiral hole-making method for laminated structures of aircraft fuselages, includes an industrial robot 200 with a seventh axis and a screw hole-making actuator 300 ;

As shown in Figure 3, the industrial robot 200 with the seventh axis includes a six-degree-of-freedom industrial robot 201 and a one-dimensional motion platform 202 that can move along the seventh axis. On the one-dimensional motion platform 202 that the seventh axis moves;

As shown in Figure 4, the screw hole making actuator 300 includes a fixed seat 310, a guide rail 320, an axial feed mechanism 330, a revolution mechanism 340, an eccentric adjustment mechanism 350 and an autorotation mechanism 360, and the axial feed mechanism 330 , the revolution mechanism 340 , the eccentric adjustment mechanism 350 and the rotation mechanism 360 are respectively equipped with an electric drive device, the guide rail 320 is arranged on the fixed seat 310 , and the axial feed mechanism 330 drives the revolution mechanism 340 to move along the guide rail 320 , the eccentric adjustment mechanism 350 is arranged on the revolution mechanism 340, the autorotation structure 360 is arranged on the eccentric adjustment mechanism 350, and the autorotation structure 360 is used to set the tool; On an industrial robot 200 with a seventh axis.

As shown in FIG. 4 , preferably, a robotic spiral drilling system further includes a compacting chip removal mechanism for compacting the stacked structure 100 of the fuselage, and the compacting chip removal mechanism includes a The bottom plate 353 , the hollow presser foot 351 and the chip discharge pipe 352 , the chip discharge pipe 352 is arranged on the hollow presser foot 351 , and the hollow presser foot 351 is arranged on the bottom plate 353 . The working process of the drilling system is as follows:

(1) The industrial robot screw 200 with the seventh axis sends the screw hole-making actuator 300 to the hole-making pose of the fuselage stacking mechanism 100, and at the same time presses the fuselage stack with the presser foot 351 of the chip removal mechanism. Layer structure 100; wherein, the cutter works through the presser foot;

(2) According to the diameter of the hole to be made and the diameter of the tool, use the eccentric adjustment mechanism 350 to adjust the tool 8 to the required revolution radius; use the axial feed mechanism 330 and the revolution mechanism 340 to drive the rotation mechanism 360 to generate spiral feed, At the same time, the rotation mechanism 360 generates rotation to realize the cutting motion of spiral hole making;

(3) When cutting into the top layer member 101 of the stacked structure of the fuselage, the top layer member 101 is spirally drilled to match the high tool rotation speed n _s1 , low tool revolution speed n _ω1 , and large feed pitch P ₁ of the top layer member material , while using the chip removal pipeline 352 to suck chips;

(4) At the interface 103 between the top layer member 101 and the bottom layer member 102, by stopping the feed of the axial feed mechanism 330, the tool rotation speed, tool revolution speed, and feed pitch can be adjusted by n _s1 and n of the material of the top layer member. _ω1 , P ₁ are adjusted to match n _s2 , n _ω2 , P ₂ of the underlying component material;

(5) To match the high rotation speed n _s2 , low revolution speed n _ω2 , and large feed pitch P ₂ of the material of the underlying component, perform spiral drilling on the underlying component 102 , and at the same time use the chip removal pipe 352 to suck chips;

The above description is only a preferred implementation example of the method and system for robotized spiral drilling of aircraft fuselage laminated structures according to the present invention, but the implementation scope of the present invention is not limited to this example.

Claims (5)

1., for an airframe laminated construction robotization spiral method for drilling, it is applied to robotization spiral punching system, it is characterised in that comprise the following steps:

(1) according to tool diameter and fuselage laminated construction treat drilling diameter, cutter revolution-radius e is adjusted to required setting value；

(2) cutter is to mate the high rotation rotating speed n of top layer construction material_s1, low revolution rotating speed n_ω1With roughing feed pitch P₁, top layer component is carried out spiral drilling；

(3) at fuselage laminated construction separating surface place, by the high rotation rotating speed of cutter, low revolution rotating speed, roughing feed pitch by the n mating top layer construction material_s1、n_ω1、P₁It is adjusted to the n of coupling infrastructure material_s2、n_ω2、P₂；

(4) cutter is to mate the high rotation rotating speed n of infrastructure material_s2, low revolution rotating speed n_ω2With roughing feed pitch P₂, infrastructure is carried out spiral drilling；

Wherein, described fuselage laminated construction is formed by top layer component and infrastructure lamination, and described top layer construction material is carbon fibre composite, and described infrastructure material is titanium alloy or aluminium alloy, described roughing feed pitch P₁With roughing feed pitch P₂Axial feeding when turning around for cutter public affairs；When infrastructure is carried out spiral drilling, described roughing feed pitch P₂It is not less than 1mm；When top layer component is carried out spiral drilling, described roughing feed pitch P₁It is not less than 0.5mm.

2. according to claim 1 for airframe laminated construction robotization spiral method for drilling, it is characterised in that: described high rotation rotating speed n_s1、n_s2With low revolution rotating speed n_ω1、n_ω2Need to meet the following conditions:

$\left\{\begin{array}{c}T=min({\mathrm{\δ}}_1/(n_{\mathrm{\ω}1}{p}_1)+{\mathrm{\δ}}_2/(n_{\mathrm{\ω}2}{p}_2\left)\right)\\ 10rpm\≤n_{s1}\≤25rpm\\ 5rpm\≤n_{s2}\≤15rpm\\ Me{n}_{\mathrm{\ω}1}^2\≤F\\ Me{n}_{\mathrm{\ω}2}^2\≤F\end{array}\right.$

Wherein, T is the Best Times of fuselage laminated construction drilling, δ₁For the thickness of top layer component, δ₂For the thickness of infrastructure, M is spiral drilling executor's operating eccentric quality, and F is the critical force causing robotization spiral punching system generation cutting-vibration, and described spiral drilling executor is the actuator of robotization spiral punching system.

3. according to claim 2 for airframe laminated construction robotization spiral method for drilling, it is characterized in that, including step: (1) utilizes and compresses chip removal mechanism, compresses the drilling region of fuselage laminated construction, and described compression chip removal mechanism is fixed on spiral drilling executor.

4. a robotization spiral punching system, it applies described in claim 1 for airframe laminated construction robotization spiral method for drilling, it is characterised by, including industrial robot (200) and spiral drilling executor (300) with the 7th axle；The described industrial robot (200) with the 7th axle includes a Six-DOF industrial robot (201) and the motion in one dimension platform (202) that can move along the 7th axle, and described Six-DOF industrial robot (201) is arranged on the motion in one dimension platform (202) that can move along the 7th axle；nullDescribed spiral drilling executor (300) includes fixing seat (310)、Guide rail (320)、Axial feed mechanism (330)、Revolution movement (340)、Eccentric adjustable mechanism (350) and free-wheeling system (360)，Described axial feed mechanism (330)、Revolution movement (340)、Eccentric adjustable mechanism (350) and free-wheeling system (360) have all been respectively configured a Vidacare corp，Described guide rail (320) is arranged on fixing seat (310)，Described axial feed mechanism (330) drives revolution movement (340) mobile along guide rail (320)，Described eccentric adjustable mechanism (350) is arranged on revolution movement (340)，Described Self-rotation structure (360) is arranged on eccentric adjustable mechanism (350)，Described Self-rotation structure (360) is used for arranging cutter；Described spiral drilling executor (300) is arranged on the industrial robot (200) with the 7th axle by fixing seat (310).

5. robotization spiral punching system according to claim 4, it is characterized in that, also include the compression chip removal mechanism for compressing fuselage laminated construction (100), described compression chip removal mechanism includes being arranged on the base plate (353) of guide rail (320) end, hollow presser feet (351) and chip removal pipeline (352), described chip removal pipeline (352) is arranged on hollow presser feet (351), and described hollow presser feet (351) is arranged on base plate (353).