A method and device for calibrating a composite barrel structure forming die

Abstract

The application discloses a kind of composite cylinder structure forming die calibration verification method and device, the present application is positioned conversion operation, first the rotation axis of part forming die is transformed to coincide with the X axis of the design coordinate system of part forming die, and the end face center of part forming die mounting shaft is transformed to coincide with the origin of the design coordinate system of part forming die.It makes the target point that is positioned with part forming die together through positioning conversion to carry out the position and posture calibration of part forming die, two values are zero in the translation amount along the X, Y, Z three directions of processing coordinate system, and two values are zero in the rotation amount around the X, Y, Z three directions of processing coordinate system.When the position and posture calibration of part forming die is completed, whether die calibration is accurate can be directly judged according to calibration result, greatly improve the efficiency of part forming die calibration verification, and it is favorable to further analyze calibration error.

Description

Technical Field

[0001] This invention pertains to composite material molding technology, and in particular relates to a calibration and verification method for an automatic fiber-laying molding die for composite cylindrical structures. Background Technology

[0002] Advanced composite materials possess advantages such as high specific strength, high specific modulus, strong designability, high fatigue resistance, high corrosion resistance, and ease of large-area integral molding, making them promising for applications in aerospace, wind turbine blades, and automobiles. Automated fiber placement is an automated manufacturing technology for composite materials developed based on existing fiber winding and automated tape placement technologies. It inherits the advantages of both technologies, enabling the automated manufacturing of complex components.

[0003] In the automatic fiber placement molding process of composite cylindrical structures, the molding mold of the composite cylindrical structure first needs to be installed on the mold rotation axis of the automatic fiber placement equipment, and the position and posture of the mold installation are calibrated to establish the transformation relationship between the mold design coordinate system and the automatic fiber placement equipment processing coordinate system, thereby establishing the mapping relationship between the fiber placement trajectory on the mold surface and the processing coordinate system of the fiber placement equipment.

[0004] Typically, the digital model of a composite material part and its molding die provided by the design share the same design coordinate system, which is the aircraft coordinate system, with the 0° fiber direction along the flight path. Therefore, for parts far from the flight path and origin of the aircraft coordinate system, when directly using the aircraft coordinate system for die calibration, the transformation relationship between the die design coordinate system and the automatic fiber placement equipment processing coordinate system consists of translations along the X, Y, and Z directions of the processing coordinate system and rotations around the X, Y, and Z directions. Furthermore, the values ​​of all six numbers in this transformation relationship are non-zero and lack any distinctive features. When the molding die of the part is large, lacks rigidity, has significant deflection, or is subject to deformation, the results obtained from calibrating the molding die using the aircraft coordinate system will not allow for a quick assessment of its accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a calibration and verification method for an automatic fiber placement molding die for composite material cylindrical structures, which improves the efficiency of die calibration and verification while ensuring accurate calibration of the automatic fiber placement molding die for composite materials.

[0006] To achieve the above objectives, the present invention proposes the following technical solutions.

[0007] In a first aspect, the present invention provides a calibration and verification method for a composite material cylindrical structure molding die, comprising the following steps:

[0008] Step 1: Open the cylindrical forming mold in the 3D modeling software, take the center of the circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the center of the circle with a straight line;

[0009] Step 2: Establish a coordinate system with the center of the end face of the mounting end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the end face of the mounting end to the center of the other end.

[0010] Step 3: Position the cylindrical forming mold and the target points processed on it using the established coordinate system as the reference coordinate system and the mold's design coordinate system as the target coordinate system.

[0011] Step 4: Use the target point coordinates after positioning transformation to calibrate the position and orientation of the mold, and obtain the translation amount along the X, Y, and Z directions of the machining coordinate system and the rotation amount around the X, Y, and Z directions of the machining coordinate system.

[0012] Furthermore, the method also includes:

[0013] Step 5: Determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

[0014] Secondly, the present invention provides a calibration and verification device for a composite material cylindrical structure molding die, comprising:

[0015] The center-connecting module is used in 3D modeling software to open the cylindrical forming mold, take the center of each circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the centers into a straight line.

[0016] The coordinate system establishment module is used to establish a coordinate system with the center of the end face of the installation end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the circle at one end of the installation end to the center of the circle at the other end.

[0017] The positioning transformation module is used to perform positioning transformation operations on the cylindrical forming mold and the target points processed on it, with the established coordinate system as the reference coordinate system and the mold's design coordinate system as the target coordinate system.

[0018] The position and attitude calibration module is used to calibrate the position and attitude of the mold using the target point coordinates after positioning transformation, and to obtain the translation amount along the X, Y, and Z directions of the machining coordinate system and the rotation amount around the X, Y, and Z directions of the machining coordinate system.

[0019] Furthermore, the device also includes:

[0020] The calibration judgment module is used to determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

[0021] Thirdly, the present invention provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the above-described calibration and verification method for a composite material cylindrical structure molding die.

[0022] Fourthly, the present invention provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described calibration and verification method for a composite material cylindrical structure molding die.

[0023] The beneficial effects of this invention are as follows:

[0024] The technical solution adopted in this invention employs a positioning transformation operation. First, the rotation axis of the part forming mold is transformed to coincide with the X-axis of the design coordinate system of the part forming mold, and the center of the end face of the mounting axis of the part forming mold is transformed to coincide with the origin of the design coordinate system of the part forming mold. This ensures that when calibrating the position and orientation of the part forming mold using a target point that follows the positioning transformation, two of the translation values ​​along the X, Y, and Z directions of the machining coordinate system are zero, and two of the rotation values ​​around the X, Y, and Z directions of the machining coordinate system are also zero. Once the position and orientation calibration of the part forming mold is completed, the accuracy of the mold calibration can be directly determined based on the calibration results, greatly improving the efficiency of part forming mold calibration and verification, and facilitating further analysis of calibration errors. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a calibration and verification method for a composite material cylindrical structure molding die provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the cylindrical forming mold;

[0028] Figure 3 This is a schematic diagram of establishing a coordinate system and target points on the cylindrical forming mold;

[0029] Figure 4 This is a schematic diagram of the design coordinate system and target points on the cylindrical forming mold after the positioning transformation operation;

[0030] Figure 5 This is a structural block diagram of a calibration and verification device for a composite material cylindrical structure molding die provided in an embodiment of the present invention;

[0031] Figure 6 This is a structural block diagram of a terminal device provided in an embodiment of the present invention.

[0032] In the picture:

[0033] 1-First circle center; 2-Second circle center; 3-Line; 4-Coordinate system; 5-First target point; 6-Second target point; 7-Third target point; 8-Design coordinate system; 9-Fourth target point; 10-Fifth target point; 11-Sixth target point. Detailed Implementation

[0034] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present invention by way of example, but should not be used to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments, and any modifications, substitutions and improvements to the parts, components and connection methods are covered without departing from the spirit of the present invention.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] See Figure 1 The present invention provides a calibration and verification method for a composite material cylindrical structure molding die, comprising the following steps:

[0037] S1. Open the cylindrical forming mold in the 3D modeling software, take the center of the circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the center of the circle with a straight line;

[0038] S2. Establish a coordinate system with the center of the end face of the mounting end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the end of the mounting end to the center of the other end.

[0039] S3. Perform a positioning transformation operation on the cylindrical forming mold and the target points processed on it, using the established coordinate system as the reference coordinate system and the design coordinate system of the mold as the target coordinate system.

[0040] S4. Use the target point coordinates after positioning transformation to calibrate the position and orientation of the mold, and obtain the translation amount along the X, Y, and Z directions of the machining coordinate system and the rotation amount around the X, Y, and Z directions of the machining coordinate system.

[0041] Optionally, in this embodiment, the method further includes:

[0042] S5. Determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

[0043] Specifically, the automated fiber placement of composite cylindrical structures requires the use of automated fiber placement equipment with an external rotating shaft for part manufacturing. Previously, when directly calibrating the mold position and orientation using target points in the part forming mold design coordinate system, the transformation relationship between the mold design coordinate system and the automated fiber placement equipment processing coordinate system consisted of translations along the X, Y, and Z directions of the processing coordinate system and rotations around the X, Y, and Z directions. Furthermore, the values ​​of the six numbers in this transformation relationship were non-zero and lacked any distinctive features.

[0044] This invention employs a positioning transformation operation. First, the rotation axis of the part forming mold is transformed to coincide with the X-axis of the design coordinate system of the part forming mold, and the center of the end face of the mounting axis of the part forming mold is transformed to coincide with the origin of the design coordinate system of the part forming mold. This ensures that when calibrating the position and orientation of the part forming mold using a target point that follows the positioning transformation, two of the translation values ​​along the X, Y, and Z directions of the machining coordinate system are zero, and two of the rotation values ​​around the X, Y, and Z directions of the machining coordinate system are also zero. Once the position and orientation calibration of the part forming mold is complete, the accuracy of the mold calibration can be directly determined based on the calibration results, greatly improving the efficiency of part forming mold calibration and verification, and facilitating further analysis of calibration errors.

[0045] The following is a specific example.

[0046] like Figure 2 As shown, firstly, open the cylindrical forming mold in 3D modeling software, and take the centers of the circles on the end face of the rotating shaft of the cylindrical forming mold, namely the first center 1 and the second center 2, and connect the first center and the second center with a straight line 3; then, establish a coordinate system 4 with the first center 1 at the installation end as the origin and the straight line 3 connecting the two centers as the X-axis. The positive direction of the X-axis of the coordinate system 4 points from the first center 1 to the second center 2 at the other end; then, as... Figure 3 As shown, the cylindrical forming mold and the target points machined on it, namely the first target point 5, the second target point 6, and the third target point 7, are used as the reference coordinate system (4) and the mold design coordinate system (8) as the target coordinate system for positioning transformation. Finally, as shown... Figure 4 As shown, the coordinate values ​​of the target points after positioning transformation—namely, the fourth target point 9 transformed from the first target point 5, the fifth target point 10 transformed from the second target point 6, and the sixth target point 11 transformed from the third target point 7—are used to calibrate the mold position and orientation. The cylindrical forming mold and its target points after positioning transformation are shown below. Figure 2 As shown.

[0047] Figure 5 This is a structural block diagram of a calibration and verification device for a composite material cylindrical structure molding die, according to an exemplary embodiment of the present invention.

[0048] See Figure 5 ,

[0049] The system includes:

[0050] The center-connecting module is used in 3D modeling software to open the cylindrical forming mold, take the center of each circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the centers into a straight line.

[0051] The coordinate system establishment module is used to establish a coordinate system with the center of the end face of the installation end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the circle at one end of the installation end to the center of the circle at the other end.

[0052] The positioning transformation module is used to perform positioning transformation operations on the cylindrical forming mold and the target points processed on it, with the established coordinate system as the reference coordinate system and the mold's design coordinate system as the target coordinate system.

[0053] The position and attitude calibration module is used to calibrate the position and attitude of the mold using the target point coordinates after positioning transformation, and to obtain the translation amount along the X, Y, and Z directions of the machining coordinate system and the rotation amount around the X, Y, and Z directions of the machining coordinate system.

[0054] Optionally, in this embodiment, the device further includes:

[0055] The calibration judgment module is used to determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

[0056] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0057] Figure 6 This is a schematic diagram of the structure of a computing device according to an exemplary embodiment of the present invention.

[0058] See Figure 6 The computing device 600 includes a memory 610 and a processor 620.

[0059] The processor 620 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0060] Memory 610 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 620 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 610 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0061] The memory 610 stores executable code, which, when processed by the processor 620, can cause the processor 620 to execute part or all of the methods described above.

[0062] Furthermore, the method according to the present invention can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the above-described method of the present invention.

[0063] Alternatively, the present invention can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) that, when executed by a processor of an electronic device (or computing device, server, etc.), causes the processor to perform some or all of the steps of the method described above according to the present invention.

[0064] The present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to the present invention. Furthermore, it is understood that the steps in the method of the embodiments of the present invention can be adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiments of the present invention can be combined, divided, and deleted according to actual needs.

[0065] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both.

[0066] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0067] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A calibration and verification method for a composite material cylindrical structure molding die, characterized in that, Includes the following steps: Step 1: Open the cylindrical forming mold in the 3D modeling software, take the center of the circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the center of the circle with a straight line; Step 2: Establish a coordinate system with the center of the end face of the mounting end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the end face of the mounting end to the center of the other end. Step 3: Perform a positioning transformation operation on the cylindrical forming mold and the target points processed on it, using the established coordinate system as the reference coordinate system and the design coordinate system of the mold as the target coordinate system. The design coordinate system is the aircraft coordinate system. Step 4: Use the target point coordinates after positioning transformation to calibrate the position and orientation of the mold, and obtain the translation and rotation along the X, Y, and Z directions of the machining coordinate system. Among them, two of the translation values ​​along the X, Y, and Z directions of the machining coordinate system are zero, and two of the rotation values ​​around the X, Y, and Z directions of the machining coordinate system are zero.

2. The calibration and verification method for the composite material cylindrical structure molding die according to claim 1, characterized in that, Also includes: Step 5: Determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

3. A calibration and verification device for a composite material cylindrical structure molding die, characterized in that, include: The center-connecting module is used in 3D modeling software to open the cylindrical forming mold, take the center of each circle on the end face of the rotating shaft of the cylindrical forming mold, and connect the centers into a straight line. The coordinate system establishment module is used to establish a coordinate system with the center of the end face of the installation end as the origin and the straight line connecting the centers of the two ends as the X-axis. The positive direction of the X-axis of the coordinate system points from the center of the circle at one end of the installation end to the center of the circle at the other end. The positioning transformation module is used to perform a positioning transformation operation on the cylindrical forming mold and the target points processed on it, with the established coordinate system as the reference coordinate system and the design coordinate system of the mold as the target coordinate system. The design coordinate system is the aircraft coordinate system. The position and attitude calibration module is used to calibrate the position and attitude of the mold using the target point coordinates after positioning transformation. It obtains the translation amount along the X, Y, and Z directions of the machining coordinate system and the rotation amount around the X, Y, and Z directions of the machining coordinate system. Among the translation amounts along the X, Y, and Z directions of the machining coordinate system, two values ​​are zero, and among the rotation amounts around the X, Y, and Z directions of the machining coordinate system, two values ​​are zero.

4. The calibration and verification device for the composite material cylindrical structure molding die according to claim 3, characterized in that, Also includes: The calibration judgment module is used to determine whether the mold calibration is accurate based on the calibration results of the mold position and orientation.

5. A terminal device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the calibration and verification method for the composite material cylindrical structure molding die as described in claim 1 or 2.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the calibration and verification method for the composite material cylindrical structure molding die as described in claim 1 or 2.

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