CN104625162B - 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 swears alignment methods and to Barebone

Technical field

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

Background technology

In aircraft industry, the failure mode of the body of an airplane is mainly fatigue rupture, and fatigue rupture is most of Then it is generated on the link position of housing construction.Aircraft industry of today, main on-link mode (OLM) still rivets and bolt Link, so the prescription for connecting hole is very high, has important impact for Aircraft life.Traditional aircraft assembling In drilling general using based on artificial boring, but the proficiency level of different workman is different with muscle power, for the perpendicularity in hole Holding is all often rule of thumb, easily produces manufacturing deficiency, so that the precision of drilling cannot be guaranteed and supervise in real time Survey evaluation of programme.

On a frame large aircraft, about 150～2,000,000 connectors, the positional precision of connecting hole, surface quality pair Larger in the machining accuracy impact in hole, wherein perpendicularity is one of principal element.Perpendicularity directly affects holed diameter, Also the riveting quality in aircraft assembling can be produced a very large impact.Shown according to related data, when aircraft securing member is along outer load When lotus action direction angle of inclination is more than 2 °, the aircraft fatigue life-span can reduce by 47%；When angle of inclination is more than 5 °, fatigue life 95% can be reduced.

In normal direction adjustment technology field, have been achieved with certain development.Can using using 4 tangent displacement sensors Lai Adjustment normal direction.This method can adjust tool feeding direction by measuring the Norma l deviation of displacement transducer, thus obtaining More satisfactory normal direction precision, it can be used for manually and automatically holing, but shortcoming is exactly to need compacting part in measurement, this Sample can produce certain deformation to workpiece, so that normal direction adjustment result is inaccurate.Or 3 laser displacements can be utilized Sensor measures the coordinate of 3 characteristic points around boring point, calculates drill bit central axis and boring point method by cross product principle The angle of vector, recycles binary angular adjustment method adjustment drill bit direction, but this method needs to ensure that 3 laser displacements pass The launch point of sensor is evenly distributed on the circumference of drill bit concentric circular, and Laser emission direction needs the direction phase with drill bit With, and it is arranged on drilling executor tail end, higher to the required precision installed, and be not suitable for Manual drilling technology.

In Manual drilling technology, traditional drill bushing is that current application is relatively more extensive, but its opening character in drilling Not it is impossible to observe drilling quality, and to after the drilling of inner side, the Yu Bianliang of internal stringer etc. not affects for exterior skin Assembling quality.Additionally, during the eyelid covering drilling such as important military secret big in Curvature varying, the application of drill bushing cannot ensure drilling completely The precision of method arrow.

Generating laser has been applied in multiple measurement assemblies at present, but applies it to measurement and the inspection of drilling method arrow In be a kind of prominent application, be accurately positioned especially in combination with off-line programming technique, using a, the change of b angle method arrow parameter, And can one-time fix multiple for large aircraft composing room, form a kind of distinctive measurement checking system, for improvement Manually the precision of drilling is with that the peculiar instrument such as drill jig is omitted or simplified is significant.

Content of the invention

The purpose of the present invention is to swear that be aligned difficulty is big for existing boring method, complex structure, and the low total problem of precision is sent out A kind of bright algorithm is simple, controls, the boring method based on generating laser easy to adjust swears alignment methods and to Barebone.

One of technical scheme is:

A kind of boring method arrow alignment methods based on generating laser, is characterized in that it comprises the following steps:

First, at least two generating lasers are installed in workshop, and enable each generating laser around orthogonal axle Rotation；

Secondly, the top processing boring rifle forms " ten " wordline；

3rd, the position calculation according to required boring goes out required method arrow value when holing；

4th, according to the method arrow value calculating gained, the anglec of rotation of two emitters of adjustment, so that each generating laser is sent out Through one of theoretical " ten " wordline, light that two generating lasers send is formed and method boring rifle top for the light plane penetrated Swear vertical theory " ten " wordline；

5th, the angle of rifle is bored in manual or automatic adjustment, so that " ten " wordline at brill rifle top is formed with generating laser Theory " ten " wordline overlap, that is, complete to bore the be aligned of top method arrow；

Finally, complete to bore the work of rifle top by the method arrow after adjustment.

The two of technical scheme are:

A kind of boring method is sweared to Barebone, it is characterized in that it includes at least two generating lasers 6 being arranged in workshop, Each described generating laser 6 is installed in corresponding second rotary shaft 5, and the second rotary shaft 5 is arranged on support 3, the Two rotary shafts 5 drive rotation by the second motor 4 being arranged on support 3, and described support 3 is arranged in the first rotary shaft 2, the One rotary shaft 2 drives rotation by the first motor 1；Adjustment the first rotary shaft of two generating lasers and the rotation of the second rotary shaft Angle just can make of theoretical " ten " wordline of light plane process of each laser transmitter projects, and two generating lasers are sent out The light plane going out is crossed to form and method vertical theory " ten " wordline of arrow boring rifle overhead projector, for bore marksmanship arrow artificial or from Dynamic adjustment provides basis of reference.

The first described motor and the second motor are servomotor.

Described support 3 is in u shape structure, and the first rotary shaft is arranged at the bottom centre position of u shape structure, the second rotation Axle is installed on the opening of u shape structure.

Beneficial effects of the present invention:

The boring method arrow technique of alignment of the present invention have comprehensive it is adaptable to whole assembly shop, be suitable to flexible multi-model life Producing line, algorithm simple it is easy to the advantage of control realization.

Brill rifle cross hairs transformation involved in the present invention, a of generating laser, b angular oscillatory motion adjusts projection plane to be aligned Bore rifle cross hairs, with this assessment method arrow be aligned technology, be easy to operative, save the special frock such as drill jig of conventional custom with Instrument.

The present invention, according to the fixing position in frock of boring eyelid covering, by off-line programming technique, show that institute's boring point is being covered Point position information under scytoblastema coordinate system and method arrow information, are changed by matrix, draw each generating laser institute under moving coordinate system Amount α of the pendulum angle needing, 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 whole type under many generating lasers swears technique of alignment, using tool Body running boring region, and combine the convenient region of operative, the generating laser in the concrete orientation of optimized choice two is carried out Projection alignment technology, is that between a kind of new car load, method is sweared to Barebone.

The present invention is applicable not only to manually hole, and is applied to automatic Drilling/Riveting, especially bent on surfaces such as military secrets Manual normal alignment during the rate change manual drilling of eyelid covering greatly.

Brief description

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

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

Fig. 3 is the method arrow be aligned 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 a point to b The distance of point, normal vector is designated as n, and two straight lines of cross hairs are designated as bp, bq.

In Fig. 2: 1 is. the first electric rotating machine, 2 is rotary shaft, and 3 is support, and 4 is the second electric rotating machine, and 5 is second Rotary shaft, 6 is generating laser, and α is the angle that the first rotary shaft rotates, and β is the angle that the second rotary shaft rotates.

In Fig. 3: o-xyz is eyelid covering basis coordinates system, o_i-x_iy_iz_iFor generating laser coordinate system.

Specific embodiment

The present invention is further illustrated with reference to the accompanying drawings and examples.

Embodiment one.

As Figure 1-3.

A kind of boring method arrow alignment methods based on generating laser, first the aircraft components of drilling will be fixed on type frame On, unique frame of reference t is defined to this part₀:o-xyz；The surrounding that flat plane laser transmitter is arranged in workshop is some Individual, when holing to certain region, the generating laser not disturbed that can artificially select nearby carries out the application of the present invention, Such application can meet the artificial boring method arrow alignment function in all regions of aircraft substantially, for conventional artificial guarantee method arrow Operation provides a kind of evaluation and dependent mechanism.Each laser can rotate (as Fig. 2) around orthogonal axle, and rotary 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_iFlat Face overlaps.The surrounding in workshop needs to arrange sufficient amount of laser group so as to whole workshop can be covered, and remembers the seat of each laser Mark system is o_i-x_iy_iz_i.

The present invention it is critical only that the transformation that hand drill rifle is carried out with region, becomes one and bores rifle rotating shaft boring the milling of rifle end Vertical plane, and orthogonal " ten " word mark is engraved on institute's milling flat.By survey tools such as tool setting gauges, survey The distance obtaining this " ten " word mark to drill top is designated as h, as shown in Figure 1.

Bore rifle when aircraft fixing tool region carries out drilling, the method arrow of hole position point and this point can pass through off-line programing Learn, hole position point is designated as point a (x_a,y_b,z_c), the method arrow of this hole position point is designated as vector n (x_n,y_n,z_n).

Correct attitude during drilling is that drill bit is overlapped with the method arrow of this hole position point.In the present invention, method arrow centering passes through to adjust and swashs α, β angle of certain two lasing light emitter in light group, the theory " ten of correct attitude when making the plane of two lasing light emitter transmittings constitute drilling Word ".As long as adjustment bores the attitude of rifle so as to the theoretical cross hairs that " ten " word mark is formed with laser plane are boring during workman's drilling Projection on rifle is respectively superposed, that is, have found correct direction of normal.

The present invention needs to calculate that hole position point is corresponding bores the plane that rifle theory " ten " word mark is located:

Hole position point a (x_a,y_b,z_c), hole position point method swears n (x_n,y_n,z_n), " ten " word mark is away from hole position point apart from h.For this The position of " 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 were exactly b point, and verticallyPlane, if in plane Point be 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 one plane, orthogonal " ten " word has arbitrarily individual, two coordinates therein under we first fix here, Then the 3rd coordinate is obtained by (3) formula.

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

1、z_nWhen ≠ 0, first fix x, y-coordinate, make x=x_b+ l, y=y_b+ m l ≠ m is substituted into (3) formula, can try to achieve

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

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

Bp can be used as first line of " ten " word mark, then Article 2 line bq can be expressed as

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

It is designated as q (x_q,y_q,z_q).

2、z_n=0, y_nWhen=0, then y, z coordinate must be fixed, make y=y_b+ m, z=x_b+ n m ≠ n is substituted into (3) Formula, can try to achieve

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

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

Bp can be used as first line of " ten " word mark, then Article 2 line bq can be expressed as

It is designated as q (x_q,y_q,z_q).

3、z_n=0, y_nWhen ≠ 0, then 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

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

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

Bp can be used as first line of " ten " word mark, then Article 2 line bq can be expressed as

It is designated as q (x_q,y_q,z_q).

So far the present invention has obtained the linear equation in the frame of reference for theoretical " ten " word mark.

Theory " ten " word of correct attitude when making the plane of two lasing light emitter transmittings constitute drilling, i.e. the transmitting of laser is put down Face is located at the plane that lasing light emitter is constituted with bp (or bq).Assume that lasing light emitter 1 corresponds to bp, the corresponding bq (Fig. 3) of lasing light emitter 2, i.e. laser Source 1 o to be adjusted to₁Bp plane, lasing light emitter 2 o to be adjusted to₂Bq plane., according to above-mentioned regulation it is simply that warp taking lasing light emitter 1 as a example Cross around x-axis rotation alpha angle, behind y-axis rotation β angle, the z-axis of lasing light emitter 1 should point to o₁The normal direction of bp.

Note o₁bp、o₂The 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 position in the frame of reference for the lasing light emitter 2, that is,It is all in reference coordinate The lower expression of system.

Lasing light emitter has two rotary freedoms, first around x-axis rotation alpha angle, then around y-axis rotation β angle, after its conversion Attitude 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, after rotation, the method arrow of laser plane is similarly the z-axis after rotating through, that is, to lasing light emitterThe tertial first three rows of transformation matrix, but, the reference frame of this method arrow is the original coordinate system of lasing light emitter, not It is to be transformed into the frame of reference what the frame of reference represented it is therefore desirable to swear method.Define this method and swear and be

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 by certain coordinate transform from reference coordinate, fixed Position in the frame of reference for i-th lasing light emitter of justice is [x_iy_iz_i1]^t, then the original coordinates of this lasing light emitter every time may be used With by the frame of reference is translated [x_iy_iz_i1]^tAfterwards, then rotating 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-th 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 $\mathrm{trans}\left(\begin{array}{ccc}{x}_i& y_i& z_i\end{array}\right)=\left[\begin{array}{cccc}1& 0& 0& x_i\\ 0& 1& 0& y_i\\ 0& 0& 1& z_i\\ 0& 0& 0& 1\end{array}\right]\mathrm{rot}(x,{\mathrm{\α}}_i)=\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& \cos \left({\mathrm{\α}}_i\right)& -\sin \left({\mathrm{\α}}_i\right)& 0\\ 0& \sin \left({\mathrm{\α}}_i\right)& \cos \left({\mathrm{\α}}_i\right)& 0\\ 0& 0& 0& 1\end{array}\right],$

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

In so i-th 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-th lasing light emitter for a certain hole position point bp plane, have

$\begin{array}{c}\stackrel{\→}{j}=\mathrm{orinormal}\\ \&doublerightarrow;o_{i}b\×\mathrm{bp}=(\mathrm{ob}-{\mathrm{oo}}_i)\mathrm{bp}=t\·\mathrm{nomnormal}_o^{\mathrm{oi}}\\ \&doublerightarrow;(\mathrm{oa}+h\stackrel{\→}{n}-{\mathrm{oo}}_i)\×((x_p,y_p,z_p)-(x_b,y_b,z_b))=t_o^{\mathrm{oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\mathrm{c\; o\; s}\left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{co\; s}\left(\mathrm{\β}\right)\\ 1\end{array}\right]\end{array}---\left(13\right)$

Wherein:

Oa is hole position point to be processed,For the method arrow of this hole position, they can be obtained by the code of off-line programing

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

oo_iFor position in reference coordinate of i-th lasing light emitter it is known that

Be from reference coordinate be tied to i-th lasing light emitter transformation matrix it is known that

α, β are that it is unknown that (13) formula just remains p point, according to above-mentioned for a certain hole position point, lasing light emitter angle to be rotated Calculated as a result, it is possible to obtain:

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

L, m, n are initial known constant；x_n, y_n.z_nForComponent；Normalize represents to the vector units tried to achieve Change, even if its mould is 1.

J-th lasing light emitter, for a certain hole position point bq plane, has in the same manner

$\left\{\begin{array}{c}{((\mathrm{oa}+h\stackrel{\→}{n}-{\mathrm{oo}}_j)\×\stackrel{\→}{n}\×(l,m,-\frac{x_{n}l+y_{n}m}{z_n}))}_{\mathrm{normalize}}=t_o^{\mathrm{oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n\&notequal;0\\ {((\mathrm{oa}+h\stackrel{\→}{n}-{\mathrm{oo}}_j)\×\stackrel{\→}{n}\×(-\frac{y_{n}m+z_{n}n}{x_n},m,n))}_{\mathrm{norm\; ali\; ze}}=t_o^{\mathrm{oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin (\mathrm{\α}\cos \left(\mathrm{\β}\right)\\ \cos (\mathrm{\α})\cos \left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n=0\\ {((\mathrm{oa}+h\stackrel{\→}{n}-{\mathrm{oo}}_j)\×\stackrel{\→}{n}\×(l,-\frac{x_{n}l+z_{n}n}{y_n},n))}_{\mathrm{normalize}}=t_o^{\mathrm{oi}}\left[\begin{array}{c}\sin \left(\mathrm{\β}\right)\\ -\sin \left(\mathrm{\α}\right)\cos \left(\mathrm{\β}\right)\\ \cos \left(\mathrm{\α}\right)\mathrm{c\; os}\left(\mathrm{\β}\right)\\ 1\end{array}\right]z_n=0,y_n\&notequal;0\end{array}\right.$ Wherein: l, m, n are initial known constant；x_n,y_n.z_nForComponent；Normalize represents to the vector units tried to achieve, Even if its mould is 1.

One hole position point corresponds to two lasing light emitters, its rotation angle α, and β can be tried to achieve by above formula two formula.

Embodiment two.

As shown in Figure 2,3.

A kind of boring method swears to Barebone, it includes at least two generating lasers 6 being arranged in workshop, as Fig. 3 institute Show, each described generating laser 6 is installed in corresponding second rotary shaft 5, and the second rotary shaft 5 is arranged on support 3, Second rotary shaft 5 drives rotation by the second servomotor 4 being arranged on support 3, and described support 3 is arranged on the first rotary shaft On 2, the first rotary shaft 2 is watched motor 1 by first and is driven rotation；First rotary shaft of two generating lasers of adjustment and the second rotation The rotational angle of axle just can make the method that the light that two generating lasers send is each perpendicular to required drill hole swear and form boring Required theory " ten " wordline, provides basis of reference for boring the manual or automatic adjustment of marksmanship arrow.As shown in Fig. 2 described support 3 In u shape structure, the first rotary shaft is arranged at the bottom centre position of u shape structure, and the second rotary shaft is installed on opening of u shape structure On mouth end.

Part that the present invention does not relate to is all same as the prior art or can be realized using prior art.

Claims (4)

1. a kind of boring method arrow alignment methods based on generating laser, is characterized in that it comprises the following steps:

First, at least two generating lasers are installed in workshop, and so that each generating laser is rotated around orthogonal axle；

Secondly, the top processing boring rifle forms " ten " wordline；

3rd, the position calculation according to required boring goes out required method arrow value when holing；

4th, according to the method arrow value calculating gained, the anglec of rotation of two emitters of adjustment, make each laser transmitter projects Through one of theoretical " ten " wordline, light plane that two generating lasers send intersects boring rifle overhead projector light plane Form theory " ten " wordline vertical with method arrow；

5th, the angle of rifle is bored in manual or automatic adjustment, makes the reason that " ten " wordline at brill rifle top and generating laser are formed Overlap by " ten " wordline, that is, complete to bore the be aligned of rifle top method arrow；

Finally, complete boring work by the method arrow after adjustment.

2. a kind of boring method is sweared to Barebone, it is characterized in that it includes at least two generating lasers (6) being arranged in workshop, Described each generating laser (6) is installed on corresponding second rotary shaft (5), and the second rotary shaft (5) is arranged on support (3) on, the second rotary shaft (5) drives rotation by the second motor (4) being arranged on support (3), and described support (3) is arranged on In first rotary shaft (2), the first rotary shaft (2) drives rotation by the first motor (1)；First rotation of two generating lasers of adjustment The rotational angle of rotating shaft and the second rotary shaft just can make the light plane of each laser transmitter projects through theoretical " ten " wordline One, for bore marksmanship arrow manual or automatic adjustment provide basis of reference.

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, is characterized in that described support (3) is in u shape structure, the first rotary shaft is arranged on At the bottom centre position of u shape structure, the second rotary shaft is installed on the opening of u shape structure.