CN104625162A - Aligning method and aligning system based on hole drilling normal vector of laser transmitters - Google Patents

Abstract

Provided are an aligning method and an aligning system based on a hole drilling normal vector of laser transmitters. The aligning method is characterized by comprising the following steps; first, installing at lest two laser transmitters in a workshop and enabling the laser transmitters to be capable of rotating around shafts perpendicular to each other; second, machining and forming cross lines in the top of a drill gun; third, calculating a normal vector value required during hole drilling according to the position in which a hole is required to be drilled; fourth, adjusting the rotating angles of the two transmitters according to the normal vector value obtained through calculation, enabling the plane of a ray emitted by each laser transmitter to pass through one of the cross lines, and enabling the planes of the rays emitted by the two laser emitters to be projected and interested at the top of the drill gun to form theoretical cross lines perpendicular to the normal vector; fifth, manually or automatically adjusting the angle of the drill gun to enable the cross lines at the top of the drill gun to coincide with the theoretical cross lines formed by the laser transmitters, and completing alignment of the hole drilling normal vector; finally, completing the dole drilling work according to the adjusted normal vector. By means of the aligning method and the aligning system, adjustment is convenient, and an algorithm is simple.

Description

Boring method based on generating laser vows alignment methods and alignment system

Technical field

The present invention relates to a kind of curved surface drilling technique, especially a kind of hole fabrication techniques of aircraft skin surface, specifically a kind of boring method based on generating laser vows alignment methods and alignment system.

Background technology

In aircraft industry, the failure mode mainly fatigue rupture of the body of an airplane, fatigue rupture great majority are then produce on the link position of housing construction.Aircraft industry of today, main on-link mode (OLM) is still riveted and bolt link, so very high for the quality requirement of connecting hole, has important impact for Aircraft life.Drilling in traditional transporation by plane generally adopts artificial boring to be main, but the qualification of different workman is different with muscle power, it is all often rule of thumb that perpendicularity for hole is held, and easily produces manufacturing deficiency, thus the precision of drilling cannot be guaranteed and Real-Time Monitoring evaluation of programme.

On a frame large aircraft, nearly 150 ~ 2,000,000 connectors, the positional precision of connecting hole, surface quality is comparatively large for the machining accuracy impact in hole, and wherein perpendicularity is one of principal element.Perpendicularity directly affects holed diameter, also can produce a very large impact for the riveting quality in transporation by plane.Show according to related data, when aircraft securing member is greater than 2 ° along angle of inclination, external load function direction, the aircraft fatigue life-span can reduce by 47%; When angle of inclination is more than 5 °, fatigue life can reduce by 95%.

In normal direction adjustment technology field, obtain certain development.Can adopt utilize 4 tangent displacement sensors come adjusting method to.This method can adjust tool feeding direction by the Norma l deviation measuring displacement transducer, thus obtain more satisfactory normal direction precision, it can be used for manually and automatic drilling, but shortcoming is exactly need compacting part when measuring, certain distortion can be produced to workpiece like this, thus make normal direction adjust result inaccuracy.Or 3 laser displacement sensors can be utilized to measure the coordinate of 3 characteristic points around boring point, the angle of drill bit central axis and boring point normal vector is calculated by cross product principle, recycling binary angular adjustment method adjustment drill bit direction, but it is circumferentially concentrically ringed that this method needs the launch point of guarantee 3 laser displacement sensors to be evenly distributed in drill bit, and Laser emission direction needs the direction with drill bit identical, and be arranged on drilling executor tail end, higher to the required precision of installing, and be not suitable for Manual drilling technology.

In Manual drilling technology, traditional drill bushing be current Application comparison widely, but its opening character when drilling is inadequate, can not observe drilling quality, and affects assembly quality not for the Yu Bianliang of inner stringer after exterior skin to the inside drilling etc.In addition, during the covering drillings such as the important military secret large at Curvature varying, the application of drill bushing cannot ensure the precision that drilling method is vowed completely.

Generating laser has been applied in multiple measurement components at present, but apply it to drilling method vow measurement with inspection in be a kind of outstanding application, especially in conjunction with off-line programming technique, utilize A, the change of B angle and accurately positioning mode vow parameter, and can one-time fix multiple for large aircraft composing room, form a kind of distinctive measurement checking system, for the precision improving drilling manually with to save or to simplify the peculiar instruments such as drill jig significant.

Summary of the invention

The object of the invention is to vow for existing boring method and aim at difficulty greatly, complex structure, total problem that precision is low, invent a kind of algorithm simple, alignment methods and alignment system are vowed in control, the boring method based on generating laser easy to adjust.

One of technical scheme of the present invention is:

Boring method based on generating laser vows an alignment methods, it is characterized in that it comprises the following steps:

First, at least two generating lasers are installed in workshop, and each generating laser can be rotated around orthogonal axle;

Secondly, the top of boring rifle is processed to form " ten " wordline;

3rd, method arrow value required when going out to hole according to the position calculation of required boring;

4th, according to the method arrow value calculating gained, the anglec of rotation of adjustment two transmitters, makes the light plane of each laser transmitter projects through one of theoretical " ten " wordline, and the light that two generating lasers send is formed at brill rifle top vows vertical theory " ten " wordline with method;

5th, angle that is artificial or adjustment brill rifle automatically, theory " ten " wordline that " ten " wordline at brill rifle top is formed with generating laser overlaps, and namely completes the aligning boring top method and vow;

Finally, vowed that boring rifle top works by the method after adjustment.

Two of technical scheme of the present invention is:

A kind of boring method vows alignment system, it is characterized in that it comprises at least two generating lasers 6 be arranged in workshop, described each generating laser 6 is installed on the second corresponding rotating shaft 5, second rotating shaft 5 is arranged on support 3, second rotating shaft 5 drives rotation by the second motor 4 be arranged on support 3, described support 3 is arranged on the first rotating shaft 2, and the first rotating shaft 2 drives rotation by the first motor 1; Adjustment the first rotating shaft of two generating lasers and the rotational angle of the second rotating shaft just can make the light plane of each laser transmitter projects through one of theoretical " ten " wordline, the light plane that two generating lasers send intersects to be formed at brill rifle overhead projector vows vertical theory " ten " wordline with method, vows artificial for boring marksmanship or automatically adjusts and provide basis of reference.

The first described motor and the second motor are servomotor.

Described support 3 takes the shape of the letter U structure, and the first rotating shaft is arranged on the bottom centre position place of U-shaped structure, and the second rotating shaft is installed on the openend of U-shaped structure.

Beneficial effect of the present invention:

Boring method of the present invention vows that technique of alignment has comprehensive, is applicable to whole assembly shop, is suitable for flexible multi-model production line, and algorithm is simple, is easy to the advantage of control realization.

Brill rifle cross hairs transformation involved in the present invention, the A of generating laser, B angular oscillatory motion adjustment projection plane is aimed at and is bored rifle cross hairs, vows the technology of aiming at, be convenient to operative, save special frock and the instruments such as the drill jig of conventional custom with this evaluation assessment.

The position that the present invention fixes in frock according to boring covering, by off-line programming technique, draw hole some position information a little under covering basis coordinates system and method vow information, changed by matrix, draw the amount α of the pendulum angle that each generating laser is required under moving coordinate system, β, this algorithm can be used for the angle rotation adjustment that control system realizes generating laser.

Between car load involved in the present invention, the comprehensive method of complete machine type under many generating lasers vows technique of alignment, utilize specific works boring region, and in conjunction with operative region easily, the generating laser in optimum choice two concrete orientation carries out projection alignment technology, is that between a kind of novel car load, method vows alignment system.

The present invention is not only applicable to hole manually, and is applicable to automatic Drilling/Riveting, the manual normal alignment especially in the covering that the surface curvature change such as military secret are large manual drilling process.

Accompanying drawing explanation

Fig. 1 is the structural representation of the brill rifle after the present invention improves.

Fig. 2 is the structural representation that can carry out the generating laser unit of both direction angle adjustment of the present invention.

Fig. 3 is the method arrow aligning schematic diagram of many generating laser compositions involved in the present invention.

In Fig. 1: A point is drill bit end points, bore the cross hairs that rifle top has customization, B point is cross searching, and h is the distance of A point to B point, and normal vector is designated as n, and cross hairs two straight lines are designated as BP, BQ.

In Fig. 2: 1 is. the first electric rotating machine, 2 is rotating shafts, and 3 is supports, and 4 is second electric rotating machines, and 5 is second rotating shafts, and 6 is generating lasers, and α is the angle that the first rotating shaft rotates, and β is the angle that the second rotating shaft rotates.

In Fig. 3: O-XYZ is covering basis coordinates system, O _i-X _iy _iz _ifor generating laser coordinate system.

Detailed description of the invention

Below in conjunction with drawings and Examples, the present invention is further illustrated.

Embodiment one.

As Figure 1-3.

Boring method based on generating laser vows an alignment methods, first will the aircraft components of drilling be fixed in type frame, and define unique frame of reference T to these parts ₀: O-XYZ; Flat plane laser transmitter be arranged in workshop surrounding several, when holing to certain region, the generating laser do not disturbed nearby can be artificially selected to carry out application of the present invention, the artificial boring method that such application can meet all regions of aircraft substantially vows alignment function, and the operation of vowing for artificial guarantee method in the past provides a kind of evaluation and dependent mechanism.Each laser can rotate (as Fig. 2) around orthogonal axle, and rotating shaft is designated as X _iaxle, Y _iaxle, around X _ithe anglec of rotation of axle is designated as α, around Y _ithe anglec of rotation of axle is designated as β angle, and the light source of lasing light emitter transmitting and X _i-Y _iplanes overlapping.The surrounding in workshop needs the laser group arranging sufficient amount, can cover whole workshop, remember that the coordinate of each laser is O _i-X _iy _iz _i.

Key of the present invention is transformation hand drill rifle being carried out to region, becomes a plane vertical with the rotating shaft of brill rifle boring the milling of rifle end, and on institute's milling flat, engraves orthogonal " ten " word mark.By survey tools such as tool setting gauges, record this " ten " word mark and be designated as h to the distance on drill top, as shown in Figure 1.

Bore rifle when drilling is carried out in aircraft fixing tool region, the method for site, hole and this point is vowed and can be learnt by off-line programing, and site, hole is designated as an A (x _a, y _b, z _c), the method in this site, hole is vowed and is designated as vector n (x _n, y _n, z _n).

Correct attitude during drilling is that drill bit is vowed with the method in this site, hole and overlapped.In the present invention, method vows that centering is by regulating α, β angle of certain two lasing light emitter in laser group, the theory " cross " of correct attitude during the plane formation drilling that two lasing light emitters are launched.As long as the attitude of rifle is bored in adjustment during workman's drilling, the theoretical cross hairs that its " ten " word mark and laser plane are formed overlaps respectively boring the projection on rifle, namely have found correct direction of normal.

The present invention needs to calculate the plane at brill rifle theory " ten " word mark place corresponding to site of portalling:

Site, hole A (x _a, y _b, z _c), site, hole method vows n (x _n, y _n, z _n), " ten " word mark is apart from site, hole distance h.Position for this " ten " word mark is designated as B, then have

$\mathrm{OB}=\mathrm{OA}+h\stackrel{\→}{n}=(x_a+{\mathrm{hx}}_n,y_a+{\mathrm{hy}}_n,z_a+{\mathrm{hz}}_n)---\left(1\right)$

Note OB=(x _b, y _b, z _b), the theoretical planes of " ten " word mark was exactly B point, and vertically plane, if the point in plane is P (x, y, z), then have

$(\mathrm{OP}-\mathrm{PB})\stackrel{\→}{n}=0---\left(2\right)$

Use expression matrix

$[x-x_{b}y-y_{b}z-z_b]\·\left[\begin{array}{c}{x}_n\\ y_n\\ z_n\end{array}\right]=0---\left(3\right)$

In a plane, orthogonal " ten " word has arbitrarily, here we first fixing under two coordinates wherein, then obtain the 3rd coordinate by (3) formula.

If method is vowed certain component be 0, the coordinate that so this component is corresponding can be arbitrary value, and therefore this coordinate must be fixed in this case.According to this thinking, situation is divided into following three kinds of situations:

1, z _nwhen ≠ 0, first fix x, y coordinate, makes x=x _b+ l, y=y _b+ m l ≠ m is substituted into (3) formula, can try to achieve

$z=z_b-\frac{x_{n}l+y_{n}m}{z_n},$ Be designated as

$P(x_b+l,y_b+m,z_b-\frac{x_{n}l+y_{n}m}{z_n})=(x_p,y_p,z_p)---\left(4\right)$

The Article 1 line of BP can be used as " ten " word mark, then Article 2 line BQ can be expressed as

$\mathrm{BQ}=\stackrel{\→}{n}\×\mathrm{BP}---\left(5\right)$

Be designated as Q (x _q, y _q, z _q).

2, z _n=0, y _nwhen=0, so must fix y, z coordinate, make y=y _b+ m, z=x _b+ n m ≠ n is substituted into (3) formula, can try to achieve

$x=x_b-\frac{y_{n}m+z_{n}n}{x_n},$ Be designated as

$P(x_b-\frac{y_{n}m+z_{n}n}{x_n},y_b+m,z_b+n)=(x_p,y_p,z_p)---\left(6\right)$

The Article 1 line of BP can be used as " ten " word mark, then Article 2 line BQ can be expressed as

Be designated as Q (x _q, y _q, z _q).

3, z _n=0, y _nwhen ≠ 0, so first fix x, z coordinate, make x=x _b+ l, z=z _b+ n l ≠ n is substituted into (3) formula, can try to achieve

$y=y_b-\frac{x_{n}l+z_{n}n}{y_n},$ Be designated as

$P(x_b+l,y_b-\frac{x_{n}l+z_{n}n}{y_n},z_b+n)=(x_p,y_p,z_p)---\left(7\right)$

The Article 1 line of BP can be used as " ten " word mark, then Article 2 line BQ can be expressed as

Be designated as Q (x _q, y _q, z _q).

So far the present invention obtains the linear equation of theory " ten " word mark in the frame of reference.

Theory " ten " word of correct attitude when the plane that two lasing light emitters are launched forms drilling, namely the plane of departure of laser is positioned at the plane that lasing light emitter and BP (or BQ) are formed.Suppose the corresponding BP of lasing light emitter 1, the corresponding BQ of lasing light emitter 2 (Fig. 3), namely lasing light emitter 1 will adjust to O ₁bP plane, lasing light emitter 2 will adjust to O ₂bQ plane.For lasing light emitter 1, according to afore mentioned rules, be just through around X-axis rotation alpha angle, after Y-axis rotates β angle, the Z axis of lasing light emitter 1 should point to O ₁the normal direction of BP.

Note O ₁bP, O ₂the normal direction of BQ is respectively

$\stackrel{\→}{j}=O_{1}B\×\mathrm{BP}---\left(8\right)$

$\stackrel{\→}{k}=O_{2}B\×\mathrm{BQ}---\left(9\right)$

Wherein O1, O2 are lasing light emitter 1 and the position of lasing light emitter 2 in the frame of reference, namely all represent under the frame of reference.

Lasing light emitter has two rotary freedoms, first around X-axis rotation alpha angle, then rotates β angle around Y-axis, and the attitude after its conversion can be represented by following homogeneous transform matrix.

$T_{\mathrm{Oi}}^{t\arg \mathrm{et}}=\mathrm{Rot}(x,\mathrm{\α})\mathrm{Rot}(y,\mathrm{\β})=\left[\begin{array}{cccc}\cos \left(\mathrm{\β}\right)& 0& \sin \left(\mathrm{\β}\right)& 0\\ \sin \left(\mathrm{\α}\right)\sin \left(\mathrm{\β}\right)& \cos \left(\mathrm{\α}\right)& -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)& 0\\ -\cos \left(\mathrm{\α}\right)\sin \left(\mathrm{\β}\right)& \sin \left(\mathrm{\α}\right)& \cos \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)& 0\\ 0& 0& 0& 1\end{array}\right]---\left(10\right)$

Wherein $\mathrm{Rot}(x,\mathrm{\α})=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \left(\mathrm{\α}\right)& -\sin \left(\mathrm{\α}\right)& 0\\ 0& \sin \left(\mathrm{\α}\right)& \cos \left(\mathrm{\α}\right)& 0\\ 0& 0& 0& 1\end{array}\right],\mathrm{Rot}(y,\mathrm{\β})=\left[\begin{array}{cccc}\cos \left(\mathrm{\β}\right)& 0& \sin \left(\mathrm{\β}\right)& 0\\ 0& 1& 0& 0\\ -\sin \left(\mathrm{\β}\right)& 0& \cos \left(\mathrm{\β}\right)& 0\\ 0& 0& 0& 1\end{array}\right]$

According to aforesaid definition, lasing light emitter is after over-rotation, and the method for laser plane is vowed and is similarly the Z axis after rotating through, namely the tertial first three rows of transformation matrix, but the reference frame that this method is vowed is the original coordinate system of lasing light emitter, is not represent in the frame of reference, therefore needs method to vow to be transformed into the frame of reference.Defining this method arrow is

NomNormal＝[sin(β)-sin(α)cos(β)cos(α)cos(β)1] ^T(11)

According to aforementioned definitions, the pose of each lasing light emitter can be obtained from reference coordinate by certain coordinate transform, defines the position of I lasing light emitter in the frame of reference for [x _iy _iz _i1] ^t, so the original coordinates of this lasing light emitter can be passed through frame of reference translation [x at every turn _iy _iz _i1] ^tafterwards, more respectively around X-axis, Y-axis, Z axis rotation alpha _i, β _i, γ _iangle obtains.The transformation matrix that definition datum coordinate is tied to I lasing light emitter is

$T_O^{\mathrm{Oi}}=\mathrm{Trans}\left(\begin{array}{ccc}{x}_i& y_i& z_i\end{array}\right)\mathrm{Rot}(x,{\mathrm{\α}}_i)\mathrm{Rot}(y,{\mathrm{\β}}_i)\mathrm{Rot}(z,{\mathrm{\γ}}_i)$

Wherein $\mathrm{Trans}\left(\begin{array}{ccc}{x}_i& y_i& z_i\end{array}\right)=\left[\begin{array}{cccc}1& 0& 0& x_i\\ 0& 1& 0& y_i\\ 0& 0& 1& z_i\\ 0& 0& 0& 1\end{array}\right]\mathrm{Rot}(x,{\mathrm{\α}}_i)=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \left({\mathrm{\α}}_i\right)& -\sin \left({\mathrm{\α}}_i\right)& 0\\ 0& \sin \left({\mathrm{\α}}_i\right)& \cos \left({\mathrm{\α}}_i\right)& 0\\ 0& 0& 0& 1\end{array}\right],$

$\mathrm{Rot}(y,{\mathrm{\β}}_i)=\left[\begin{array}{cccc}\cos \left({\mathrm{\β}}_i\right)& 0& \sin \left({\mathrm{\β}}_i\right)& 0\\ 0& 1& 0& 0\\ -\sin \left({\mathrm{\β}}_i\right)& 0& \cos \left({\mathrm{\β}}_i\right)& 0\\ 0& 0& 0& 1\end{array}\right],\mathrm{Rot}(z,{\mathrm{\γ}}_i)=\left[\begin{array}{cccc}\cos \left({\mathrm{\γ}}_i\right)& -\sin \left({\mathrm{\γ}}_i\right)& 0& 0\\ \sin \left({\mathrm{\γ}}_i\right)& \cos \left({\mathrm{\γ}}_i\right)& 0& 0\\ 0& 0& 1& 0\\ 0& 0& 0& 1\end{array}\right]$

So in I lasing light emitter coordinate system, NomNormal can be expressed as in the frame of reference:

$\mathrm{OriNormal}=T_O^{\mathrm{Oi}}\·\mathrm{NomNormal}$

With I lasing light emitter for site, a certain hole BP plane, have

$\begin{array}{c}\stackrel{\→}{j}=\mathrm{OriNormal}\\ \⇒O_{i}B\×\mathrm{BP}=(\mathrm{OB}-{\mathrm{OO}}_i)\mathrm{BP}=T\·\mathrm{NomNormal}_O^{\mathrm{Oi}}\\ \⇒(\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_i)\×((x_p,y_p,z_p)-(x_b,y_b,z_b))=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\mathrm{c\; o\; s}\left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{co\; s}\left(\mathrm{\β}\right)\\ 1\end{array}\right]\end{array}---\left(13\right)$

Wherein:

OA is site, hole to be processed, for the method for this position, hole is vowed, they can be obtained by the code of off-line programing

H is the height of riveting gun drill bit point to " ten " word mark, is the known structure parameter of riveting gun

OO _ibe i-th position of lasing light emitter in reference coordinate, known

for being tied to the transformation matrix of i-th lasing light emitter from reference coordinate, known

α, β are for site, a certain hole, the angle that lasing light emitter will rotate, and (13) formula just surplus P point is unknown, according to above-mentioned calculated result, can obtain:

$\left\{\begin{array}{c}{((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_i)\×(l,m,-\frac{x_{n}l+y_{n}m}{z_n}))}_{\mathrm{normalize}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n\≠0\\ {((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_i)\×(-\frac{y_{n}m+z_{n}n}{x_n},m,n))}_{\mathrm{norm\; ali\; ze}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin (\mathrm{\α}\cos \left(\mathrm{\β}\right)\\ \cos (\mathrm{\α})\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n=0\\ {((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_i)\×(l,-\frac{x_{n}l+z_{n}n}{y_n},n))}_{\mathrm{normalize}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n\≠0\end{array}\right.$ Wherein:

L, m, n are initial known constant; x _n, y _n.z _nfor component; Normalize represents the vector units to trying to achieve, even if its mould is 1.

In like manner a jth lasing light emitter is for site, a certain hole BQ plane, has

$\left\{\begin{array}{c}{((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_j)\×\stackrel{\→}{n}\×(l,m,-\frac{x_{n}l+y_{n}m}{z_n}))}_{\mathrm{normalize}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n\≠0\\ {((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_j)\×\stackrel{\→}{n}\×(-\frac{y_{n}m+z_{n}n}{x_n},m,n))}_{\mathrm{norm\; ali\; ze}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin (\mathrm{\α}\cos \left(\mathrm{\β}\right)\\ \cos (\mathrm{\α})\cos \left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n=0\\ {((\mathrm{OA}+h\stackrel{\→}{n}-{\mathrm{OO}}_j)\×\stackrel{\→}{n}\×(l,-\frac{x_{n}l+z_{n}n}{y_n},n))}_{\mathrm{normalize}}=T_O^{\mathrm{Oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n\≠0\end{array}\right.$ Wherein: l, m, n are initial known constant; x _n, y _n.z _nfor component; Normalize represents the vector units to trying to achieve, even if its mould is 1.

Corresponding two lasing light emitters in site, a hole, its anglec of rotation α, β can be tried to achieve by above formula two formula.

Embodiment two.

As shown in Figure 2,3.

A kind of boring method vows alignment system, it comprises at least two generating lasers 6 be arranged in workshop, as shown in Figure 3, described each generating laser 6 is installed on the second corresponding rotating shaft 5, second rotating shaft 5 is arranged on support 3, second rotating shaft 5 drives rotation by the second servomotor 4 be arranged on support 3, and described support 3 is arranged on the first rotating shaft 2, and the first rotating shaft 2 is watched motor 1 by first and driven rotation; The light that adjustment the first rotating shaft of two generating lasers and the rotational angle of the second rotating shaft just can make two generating lasers send all is vowed perpendicular to the method for required drill hole and forms theory " ten " wordline needed for boring, for brill marksmanship arrow is artificial or adjustment provides basis of reference automatically.As shown in Figure 2, described support 3 takes the shape of the letter U structure, and the first rotating shaft is arranged on the bottom centre position place of U-shaped structure, and the second rotating shaft is installed on the openend of U-shaped structure.

The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.

Claims (4)

1. the boring method based on generating laser vows an alignment methods, it is characterized in that it comprises the following steps:

First, at least two generating lasers are installed in workshop, and each generating laser can be rotated around orthogonal axle;

Secondly, the top of boring rifle is processed to form " ten " wordline;

3rd, method arrow value required when going out to hole according to the position calculation of required boring;

4th, according to the method arrow value calculating gained, the anglec of rotation of adjustment two transmitters, make the light plane of each laser transmitter projects through one of theoretical " ten " wordline, the light plane that two generating lasers send intersects to be formed at brill rifle overhead projector vows vertical theory " ten " wordline with method;

5th, angle that is artificial or adjustment brill rifle automatically, theory " ten " wordline that " ten " wordline at brill rifle top is formed with generating laser overlaps, and namely completes the aligning boring rifle top method and vow;

Finally, boring work has been vowed by the method after adjustment.

2. a boring method vows alignment system, it is characterized in that it comprises at least two generating lasers (6) be arranged in workshop, described each generating laser (6) is installed on corresponding the second rotating shaft (5), second rotating shaft (5) is arranged on support (3), second rotating shaft (5) is driven by the second motor (4) be arranged on support (3) and rotates, described support (3) is arranged on the first rotating shaft (2), and the first rotating shaft (2) is driven by the first motor (1) and rotates; Adjustment the first rotating shaft of two generating lasers and the rotational angle of the second rotating shaft just can make the light plane of each laser transmitter projects through one of theoretical " ten " wordline, for brill marksmanship arrow is artificial or adjustment provides basis of reference automatically.

3. system according to claim 2, is characterized in that the first described motor and the second motor are servomotor.

4. system according to claim 2, it is characterized in that described support (3) takes the shape of the letter U structure, the first rotating shaft is arranged on the bottom centre position place of U-shaped structure, and the second rotating shaft is installed on the openend of U-shaped structure.