Three-Dimensional Automatic Detection Method for Large-Scale Structure of Aircraft Based on Robot

CHEN Yunquan; LI Shuanggao; HUANG Xiang; LI Qi; LIN Jing

doi:10.16080/j.issn1671-833x.2019.10.051

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Three-Dimensional Automatic Detection Method for Large-Scale Structure of Aircraft Based on Robot

更新时间：2025-10-30

- Three-Dimensional Automatic Detection Method for Large-Scale Structure of Aircraft Based on Robot
- Aeronautical Manufacturing Technology Vol. 62, Issue 10, Pages: 51-57(2019)
- 作者机构：
  
  1. 航空工业成都飞机工业（集团）有限公司,成都,610092
  2. 南京航空航天大学机电学院,南京,210016
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2019.10.051
  CLC：
- Published：2019
- 稿件说明：
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陈允全，李泷杲，黄翔，李琦，林晶. 基于机器人的飞机大型结构三维自动化检测方法[J]. 航空制造技术, 2019, 62(10): 51-57.

CHEN Yunquan, LI Shuanggao, HUANG Xiang, LI Qi, LIN Jing. Three-Dimensional Automatic Detection Method for Large-Scale Structure of Aircraft Based on Robot. Aeronautical Manufacturing Technology, 2019, 62(10): 51-57.
陈允全，李泷杲，黄翔，李琦，林晶. 基于机器人的飞机大型结构三维自动化检测方法[J]. 航空制造技术, 2019, 62(10): 51-57. DOI： 10.16080/j.issn1671-833x.2019.10.051.

CHEN Yunquan, LI Shuanggao, HUANG Xiang, LI Qi, LIN Jing. Three-Dimensional Automatic Detection Method for Large-Scale Structure of Aircraft Based on Robot. Aeronautical Manufacturing Technology, 2019, 62(10): 51-57. DOI： 10.16080/j.issn1671-833x.2019.10.051.

摘要

外形数据测量是飞机装配中至关重要的一环。传统模拟量检测无法满足飞机大型结构点的外形测量需求，而单独的数字化测量设备和方法又难以实现大尺寸和复杂结构的测量。构建了由工业机器人和激光跟踪仪组成的自动化扫描系统，研究了飞机大型结构自动化检测方法。根据轨迹规划和仿真的结果，实现机器人扫描系统对大型结构测量，将测量结果与理论数模比较就可以分析大型结构的误差信息，实现对大型结构的检测。

Abstract

Shape detection is a vital part of aircraft assembly. Traditional measurement method based on analog delivering cannot meet the requirements of shape detection of large structures in aircraft assembly. It is difficult to detect largesize and complex structures with separate digital measurement equipment and methods. Therefore

this paper constructs an automatic scanning system consisting of industrial robot and laser tracker system

and studies the automatic detection methods for large-scale structures in aircraft assembly. According to the results of trajectory planning and simulation

the scanning system realizes measurement on large structures

and compares the measurement results with the theoretical digital model to analyze the error information of large structures and realize the detection of large structures.

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