基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正

doi:10.3969/j.issn.1004-132X.2026.03.002

中国机械工程 ›› 2026, Vol. 37 ›› Issue (3): 528-537.DOI: 10.3969/j.issn.1004-132X.2026.03.002

• 机械基础工程 • 上一篇

基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正

田兴源¹(), 朱永国¹(), 崔伟², 何敏寅¹, 程承³, 张义涛⁴

^1.南昌航空大学航空制造与机械工程学院, 南昌, 330063
^2.中国航发贵州黎阳航空发动机有限公司, 贵阳, 550014
^3.南昌大学先进制造学院, 南昌, 330063
^4.陆装航空军代局驻景德镇地区航空军事代表室, 景德镇, 333002

收稿日期:2025-08-19 出版日期:2026-03-25 发布日期:2026-04-08
通讯作者: 朱永国
作者简介:田兴源，男，2001年生，硕士研究生。研究方向为飞机数字化装配。E-mail：1982769846@qq.com
朱永国^*（通信作者），男，1978年生，教授。研究方向为飞机数字化装配。E-mail：zhuyongguo_2003@163.com。
基金资助:
江西省重点研发计划(20243BBG71004);江西省重点研发计划(20252BCE310001);国家自然科学基金(52465060);航空科学基金(2024M050056002)

Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint

TIAN Xingyuan¹(), ZHU Yongguo¹(), CUI Wei², HE Minyin¹, CHENG Cheng³, ZHANG Yitao⁴

^1.School of Aeronautical Manufacturing and Mechanical Engineering，Nanchang Hangkong University，Nanchang，330063
^2.AECC Guizhou Liyang Aero Engine Co. ，Ltd. ，Guiyang，550014
^3.School of Advanced Manufacturing，Nanchang University，Nanchang，330063
^4.Aeronautical Military Representative Office of the Aeronautical Military Representative Bureau in Jingdezhen District，Jingdezhen，Jiangxi，333002

Received:2025-08-19 Online:2026-03-25 Published:2026-04-08
Contact: ZHU Yongguo

摘要/Abstract

摘要：

针对飞机翼身对接装配中激光跟踪仪测量光路易遮挡及对接装配准确度之间存在耦合关系的问题，以叉耳式飞机叉耳翼身对接装配为研究对象，提出基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正方法。利用分布式双目相机、激光跟踪仪、数控定位器等构建叉耳式飞机翼身对接装配偏差检测与修正系统。依据翼身对接装配准确度的重要程度和工艺特点，建立叉耳式翼身对接装配偏差综合表达式，提出基于装配准确度优先级约束的飞机翼身对接装配偏差修正方法。将飞机翼身对接装配耦合准确度要求解耦为分阶段离散优化问题，利用李代数参数化量化飞机翼身相对姿态偏差，利用叉耳配合间隙模型和叉耳孔同轴度模型分别解算间隙修正量和同轴度修正量，实现了飞机机翼机身对接装配偏差的逐级修正。实验结果表明，与无约束模型装配方法和传统几何参考多约束模型偏差修正方法相比，翼身相对姿态偏差、叉耳孔同轴度和叉耳配合间隙均得到了改善。

关键词: 飞机, 装配, 优先级约束, 双目视觉, 偏差修正

Abstract:

Aiming at the problems that the optical path measured by laser trackers was prone to occlusion and the coupling relationship existing in docking assembly accuracy during aircraft wing-fuselage docking assembly， the wing-fuselage docking assembly of fork-ear aircrafts was used as research object， and a method was proposed for decoupled modeling and correction for fork-ear type aircraft wing-fuselage docking assembly deviations based on distributed binocular vision and assembly accuracy priority constraint. A deviation detection and correction system was constructed for the wing-fuselage docking assembly of fork-ear aircrafts， integrating distributed binocular cameras， laser trackers， and numerical control positioners. Based on the importance and process characteristics of wing-fuselage docking assembly accuracy， a comprehensive expression was established for the wing-fuselage docking assembly deviations of fork-ear aircrafts， and a correction method was proposed for such assembly deviations， which was based on the priority constraint of assembly accuracy. The coupled accuracy requirements were decoupled into a phased discrete optimization problem for aircraft wing-fuselage docking assembly. The relative attitude deviation of the aircraft wing-fuselage was quantified using Lie algebra parameterization. The clearance correction and coaxiality correction amounts were calculated respectively via the fork-ear fit clearance model and the fork-ear hole coaxiality model， enabling the step-by-step correction of deviations in aircraft wing-fuselage docking assembly. Experimental results show that compared with the unconstrained model assembly method and the traditional geometric reference-based multi-constraint model deviation correction method， the wing-fuselage relative attitude deviation， fork-ear hole coaxiality， and fork-ear fit clearance are all improved.

Key words: aircraft, assembly, priority constraint, binocular vision, deviation correction

中图分类号:

V262.4

田兴源, 朱永国, 崔伟, 何敏寅, 程承, 张义涛. 基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正[J]. 中国机械工程, 2026, 37(3): 528-537.

TIAN Xingyuan, ZHU Yongguo, CUI Wei, HE Minyin, CHENG Cheng, ZHANG Yitao. Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint[J]. China Mechanical Engineering, 2026, 37(3): 528-537.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2026.03.002

https://www.cmemo.org.cn/CN/Y2026/V37/I3/528

图/表 19

图1 飞机翼身对接装配偏差检测与修正系统

Fig.1 Aircraft wing-fuselage docking assembly deviation detection and correction system

图2 基于优先级约束的飞机翼身相对位姿偏差检测与修正流程

Fig.2 Flow chart of relative pose deviation detection and correction for aircraft wing-fuselage based on priority constraints

图3 飞机机翼-机身前后端面接头孔分布

Fig.3 Wing-fuselage joint holes distribution

图4 翼身接头孔轴线

Fig.4 Wing-fuselage joint holes axes

图5 飞机翼身接头孔等效轴线

Fig.5 Wing-fuselage joint holes equivalent axes

图6 翼身接头拟合直线间公垂线投影间隙

Fig.6 Wing-fuselage joint fitted lines common perpendicular projected clearance

图7 主辅叉耳间隙

Fig.7 Main-auxiliary fork-ear clearance

图8 叉耳同轴度

Fig.8 Wing-fuselage fork-ear coaxiality

图9 叉耳式飞机翼身对接装配偏差检测与修正系统

Fig.9 Fork-ear aircraftwing-fuselage docking assembly deviation detection & correction platform

图10 翼身叉耳尺寸

Fig.10 Wing-fuselage fork-ear dimensions

图11 对合前翼身主接头孔心坐标测量值

Fig.11 Wing-fuselage main joint holecenter measured coordinates before docking

图12 对合前翼身辅接头孔心坐标测量值

Fig.12 Wing-fuselage auxiliary joint holecenter measured coordinates before docking

图13 对合前主辅叉耳配合间隙

Fig.13 Main-auxiliary fork-ear fitting clearance before docking

图14 对合后主辅叉耳配合间隙

Fig.14 Main-auxiliary fork-ear fitting clearance after docking

图15 对接过程中翼身接头孔心坐标与同轴度测量结果

Fig.15 Measurement results of wing-fuselage joint holecenter coordinates and coaxiality during docking process

图16 翼身对接成功

Fig.16 Successful wing-fuselage docking result

图17 主、辅叉耳同轴度测量结果

Fig.17 Measurement results of main-auxiliary fork-ears coaxiality

图18 主、辅叉耳配合间隙偏差测量结果

Fig.18 Measurement results of main-auxiliary fork-ears average clearance deviation

图19 对合后翼身相对姿态偏差

Fig.19 Relative attitude deviation of wing-fuselage after docking

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基于分布式双目视觉与优先级约束的叉耳式飞机翼身对接装配偏差解耦建模与修正

Decoupled Modeling and Correction for Fork-Ear Type Aircraft Wing-Fuselage Docking Assembly Deviations Based on Distributed Binocular Vision and Priority Constraint

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