A method for detecting the docking posture of large parts
The method addresses assembly deviations in large parts by using a distance measuring sensor and posture adjustment platform to enhance accuracy and efficiency, reducing costs and labor through real-time, automatic control of the assembly process.
Patent Information
- Application Number
- CN202210240439.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-03-10
- Publication Date
- 2024-12-06
- Estimated Expiration
- 2042-03-10
AI Technical Summary
Current methods for detecting the docking posture of large parts are affected by external environmental factors, leading to deviations in assembly accuracy and increased costs due to the use of expensive equipment like laser trackers and optical detection methods.
A method using a distance measuring sensor and a posture adjustment platform to detect and adjust the spatial position of large parts based on scalar data such as distance between corresponding points, eliminating the need for ground reference points and enabling real-time, automatic control of the assembly process.
Improves detection accuracy, reduces labor intensity, and lowers assembly costs by using retractable contact sensors to monitor distance changes, enhancing assembly efficiency and quality.
Smart Images
Figure CN114812459B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of large-scale component docking assembly, and in particular to a large-scale component docking posture detection method. Background Art
[0002] The assembly of large parts has the characteristics of large number of operations and complex assembly relationships. With the continuous progress and development of my country's industry, the requirements for precision, efficiency and cost in the assembly of large parts are becoming higher and higher.
[0003] The principle of the current detection method is to measure vectors such as angles and establish ground reference points (ERS) to convert several coordinate systems to obtain their spatial positions, which involves a lot of vector operations. In the digital assembly process of large parts, commonly used optical, image and other detection methods are often affected by problems such as light obstruction, and other commonly used equipment such as laser trackers are expensive and require the establishment of ground reference points (ERS) and transfer to the global coordinate system. However, with the influence of external environmental factors such as temperature, humidity, air disturbance, especially during the transfer of stations during the detection process, the ERS point will have a slight displacement and deviate from the theoretical coordinate value. The detection accuracy will be greatly affected, resulting in deviations in the docking detection of large parts during the assembly process, affecting the overall quality of large parts assembly. Summary of the invention
[0004] In view of this, the present invention provides a method for detecting the docking posture of large parts in order to reduce the cost in the assembly process of large parts, improve the assembly efficiency, and reduce the influence of external factors on the assembly accuracy.
[0005] To achieve the above object, the technical solution adopted by the present invention is: a method for detecting the docking posture of large parts, comprising the following steps:
[0006] Step 1: Place the movable component on a posture adjustment platform that can move in all degrees of freedom. The spatial position of the docking section of the movable component is represented by o′x′y′z′; the coordinates of the docking section of the fixed component are oxyz. Before docking, there are translation position deviations Δx, Δy, and angle deviations α, β, and γ between the two. The z direction is the docking axis direction of the two components, and Δz is the distance between the two docking surfaces.
[0007] Step 2: A distance measuring sensor is installed on a mounting point set near the interface between the moving part and the fixed part to continuously detect the distance between the corresponding point of the moving part and the fixed part;
[0008] Step 3: Detect the distance between the two components using a distance measuring sensor, and use a spatial position solving algorithm to calculate the position deviation Δx, Δy, α, β, γ between the two components and the distance Δz between the butt surfaces;
[0009] Step 4: Send the solved spatial position deviation data between the two components to the attitude adjustment control system, which controls the attitude adjustment platform to achieve the coincidence of the axes between the two components;
[0010] Step 5: Control the posture adjustment platform to move the movable part closer to the fixed part. During this process, the posture of the movable part is continuously detected and adjusted until the mounting surfaces of the two parts are completely docked. At this time, the position deviation and z-term distance of the movable part are both zero, that is: Δx=0, Δy=0, α=0, β=0, γ=0, Δz=0.
[0011] The distance measuring sensor in step 2 continuously monitors the distance between corresponding points as the postures of the components change. The sensor is equipped with a pull rope connecting the corresponding points of the two components, and the pull rope can automatically retract and retract as the distance changes.
[0012] The installation point in step 2 is the location of the connecting flange hole.
[0013] Compared with the prior art, the present invention has the following advantages and effects:
[0014] The present invention is different from commonly used laser trackers and other equipment that require the establishment of ground reference points and coordinate system conversion methods to determine the specific vector orientation. It only needs to use a few scalar data such as the distance between the corresponding point positions of the moving parts and the fixed parts to correctly determine the posture of the fuselage during the assembly process. The method is simple, easy to implement, and greatly improves the detection efficiency.
[0015] The present invention can correctly determine the posture of the fuselage during the assembly process based on only a few scalar data such as the distance between the corresponding points of the moving parts and the fixed parts. The obtained position data can not only be used to automatically control the assembly process, but also to assist manual adjustment. Compared with optical, image and other detection methods, it can avoid the problem of light blocking, improve the detection accuracy of the posture, reduce the assembly cost, reduce the labor intensity of manual work, and improve the assembly efficiency.
[0016] The present invention adopts a retractable contact sensor that can continuously detect the multi-point distance between two components, so that real-time measurement can be performed, and the measurement accuracy is high, the equipment cost is low, the assembly cost is reduced, the overall detection efficiency is greatly improved, and the needs of large-scale industrial production are met. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the principle of the large-scale component docking posture detection method of the present invention;
[0018] Figure 2 It is a schematic diagram of the present invention when the corresponding points of the moving part coincide with the fixed part after the posture adjustment and the docking is completed;
[0019] Figure 3 is a schematic diagram of a method of specific example 1 of the present invention;
[0020] Figure 4 is a schematic diagram of a method of specific example 2 of the present invention;
[0021] Figure 5 It is a schematic diagram of the method of specific example 3 of the present invention.
[0022] Marking instructions: 1. Movable parts; 2. Fixed parts; 3. Sensor ranging rope; 4. Ranging sensor; 5. Attitude adjustment platform; 6. Attitude adjustment control system; 7. Fixed support. DETAILED DESCRIPTION
[0023] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
[0024] The principle of the large-scale component docking posture detection method of the present invention is as follows Figure 1 As shown, it includes a posture adjustment platform 5 that can move in various degrees of freedom and a fixed support 7, the movable component 1 is placed on the posture adjustment platform 5, the fixed component 2 is arranged on the fixed support 7, the flange hole position on the opposite surface of the movable component 1 and the fixed component 2 is connected to install a distance sensor 4, and the distance sensor 4 is electrically connected to the posture adjustment control system 6.
[0025] The above-mentioned distance measuring sensor 4 is a kind of sensor that can continuously monitor the distance between corresponding points as the postures between components change. The sensor has a pull rope that can connect the corresponding points of the two components, and the pull rope can automatically retract and retract as the distance changes. It can be a pull rope displacement sensor, etc.
[0026] The posture adjustment control system 6 detects the distance between the corresponding points of the movable component 1 and the fixed component 2, and uses the mathematical relationship between the distances between the corresponding points or the changing trend between the distances to control the spatial posture of the large component, thereby controlling and adjusting the posture of the movable component during the assembly process, and constructing an automatic posture adjustment system during the component assembly process. During the entire assembly process, the sensor continuously detects the distance between the corresponding points of the components, and the control system continuously adjusts the spatial posture of the docking components until the corresponding points of the two components coincide and the docking is completed.
[0027] The sensor of the present invention determines the spatial position relationship between two components and can be used not only for automatic control of the assembly process but also for the manual assembly process of large components.
[0028] This embodiment provides a method for detecting the docking posture of large parts, including the following steps:
[0029] The movable component is placed on a posture adjustment platform that can move in all degrees of freedom. The spatial position of the docking section of the movable component is represented by o′x′y′z′, and the coordinate of the docking section of the fixed component is oxyz. Before docking, there are translational position deviations Δx, Δy, and angular deviations α, β, γ between the two. The z direction is the docking axis direction of the two components, and Δz is the distance between the two docking surfaces.
[0030] Install a distance measuring sensor (such as a pull rope sensor, the pull rope can automatically extend and retract as the position of the parts changes) on the installation point set near the docking surface of the moving part and the fixed part (such as the position of the connecting flange hole) to continuously detect the distance between the corresponding points of the two parts during the docking process.
[0031] like Figure 3-5 As shown, a retractable contact sensor (such as a pull rope sensor) is used to continuously detect the distance between the corresponding points of the moving component and the fixed component in real time (the distance can be measured between the corresponding points, or the cross-distance can be measured between the corresponding points), and the position deviation Δx, Δy, α, β, γ between the two components and the distance Δz between the docking surfaces are calculated using a spatial position solution algorithm.
[0032] The solved spatial position deviation data between the two components is sent to the attitude adjustment control system, which controls the attitude adjustment platform to move the movable component closer to the fixed component. During this process, the attitude of the movable component is continuously detected and adjusted until the mounting surfaces of the two components are completely docked. At this time, the position deviation and z-term distance of the movable component are both zero, that is, Δx = 0, Δy = 0, α = 0, β = 0, γ = 0, Δz = 0, and finally Figure 2 As shown in the figure, complete the assembly of large components.
[0033] The specific process is as follows Figure 3 As shown, the coordinates of the butt joint section where holes 1, 2, 3, and 4 are located are o′x′y′z′, the coordinates of the butt joint section where holes 1′, 2′, 3′, and 4′ are located are oxyz, hole 1 and hole 1′ are corresponding holes, hole 2 and hole 2′ are corresponding holes, hole 3 and hole 3′ are corresponding holes, and hole 4 and hole 4′ are corresponding holes; hole 1 and hole 2 are in a symmetrical relationship on the fuselage section, and hole 3 and hole 4 are in a symmetrical relationship on the fuselage section; when the mobile fuselage moves to a certain position relative to the fixed fuselage, the distance between hole 1 and hole 2 is measured as a fixed length L1 by a retractable contact distance measuring sensor installed at the flange hole position of the butt joint section of o′x′y′z′ and oxyz, the distance between hole 1 and hole 2 is measured as a fixed length L1, the distance between hole 2 and its corresponding hole 2′ is a length L2, the distance between hole 1 and hole 2′ is a length L3, the distance between hole 1 and its corresponding hole 1′ is a length L4, the distance between hole 4 and hole 4′ is a length L5, and the distance between hole 3 and hole 3′ is a length L6.
[0034] Step 1: You can first adjust the lengths of L2, L4, L5 and L6 so that the section where hole 1 is located is parallel to the section where hole 1' is located. For example, you can keep the shorter one of L2, L4, L5 and L6 unchanged, and adjust the other lengths to the same length as the shorter one.
[0035] Step 2: Determine whether L3 is the longest among L1, L2 and L3. If not, adjust it to be the longest among them and make the axes of the two parts coincide.
[0036] Step 3: Adjust the position of the mobile body so that the relationship between L1, L2 and L3 is L3 2 =L1 2 +L2 2 , and finally make the mounting surfaces of the two components completely docked, at which time the position deviation and z-term distance of the movable component are both zero, that is: Δx=0, Δy=0, α=0, β=0, γ=0, Δz=0.
[0037] Figure 4 and Figure 5 The method can be carried out by multi-point docking, and the method is the same as the above method.
[0038] The present invention adjusts the posture problem in the assembly process through the distance relationship between corresponding points on the components through distance data. The pull-wire displacement sensor is only used to obtain the scalar data of distance, because the position of the component is constantly changing during the adjustment process, so a retractable contact sensor (such as a pull-wire sensor) is used.
[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.
Claims
1. A method for detecting the docking posture of large parts, characterized in that: The steps include: Step 1: Place the movable component on a posture adjustment platform that can move in all degrees of freedom. The spatial position of the docking section of the movable component is represented by o′x′y′z′; the coordinates of the docking section of the fixed component are oxyz. Before docking, there are translation position deviations Δx, Δy, and angle deviations α, β, and γ between the two. The z direction is the docking axis direction of the two components, and Δz is the distance between the two docking surfaces. Step 2: Install a pull-wire sensor on the installation point near the interface between the moving part and the fixed part to continuously detect the distance between the corresponding point of the moving part and the fixed part; Step 3: Detect the distance between the two components by using a drawstring sensor, and calculate the position deviation Δx, Δy, α, β, γ between the two components and the distance Δz between the butt surfaces by using a spatial position solving algorithm; the drawstring sensor is retractable; Step 4: Send the solved spatial position deviation data between the two components to the attitude adjustment control system, which controls the attitude adjustment platform to achieve the coincidence of the axes between the two components; Step 5: Control the posture adjustment platform to move the movable component closer to the fixed component. During this process, the posture of the movable component is continuously detected and adjusted until the mounting surfaces of the two components are completely docked. At this time, the position deviation and z-term distance of the movable component are both zero, that is, Δx=0, Δy=0, α=0, β=0, γ=0, Δz=0; The drawstring sensor in step 2 continuously monitors the distance between corresponding points as the postures of the components change. The sensor has a drawstring connecting the corresponding points of the two components, and the drawstring can automatically retract as the distance changes. The installation point in step 2 is the location of the connecting flange hole.