A curvature detection and correction device and correction method for composite materials

Abstract

The present invention discloses a curvature detection and correction device and correction method for a composite material, comprising a rotating fixed frame and a detection and correction frame, the rotating fixed frame is installed at the front end of the detection and correction frame, there are two sets of rotating fixed frames and they are arranged oppositely, the rotating fixed frame comprises a fixed base, a rotating seat and a clamping plate, the detection and correction frame comprises a mounting base, a six-axis manipulator and a clamping seat, and the correction method mainly uses a three-dimensional scanner to comprehensively scan the composite material before and after installation, and by comparing the 3D images before and after, the curvature change of the composite material is detected, and then accurate correction is performed later. The advantage of the present invention is that the composite material is accurately corrected by water and fire by comparing and judging the 3D scanned image, and then the six-axis manipulator and the rotating fixed frame are used.

Description

Technical Field

[0001] The present invention relates to the technical field of combined material detection, and in particular to a combined material curvature detection and correction device and correction method. Background Art

[0002] Composite materials are widely used parts on the hull. The production of such parts requires cutting, transportation, assembly and welding, which will cause more or less deformation. In particular, the complex lines of the bow and stern of the ship lead to a large curvature of the internal structure transverse composite materials in this part, many of which are "S" shaped, and the deformation of these composite materials is also very obvious. In order to ensure the accuracy of the subsequent assembly and the quality of shipbuilding, these deformations must be eliminated in time and restored to the design accuracy. The traditional practice is to use customized templates to test the accuracy after water and fire correction. Due to the complexity of the hull lines, the template is not replicable, so a large number of templates need to be made for inspection. The storage, management, search and use of templates will occupy physical space and labor costs, thus creating waste. The traditional correction method also uses manual naked eyes to judge the construction, which is time-consuming and labor-intensive. Summary of the invention

[0003] The purpose of the present invention is to provide a curvature detection and correction device and correction method for composite materials, which can compare and judge the composite materials through 3D scanning images, and then use a six-axis manipulator and a rotating fixed frame to perform precise water and fire correction on the composite materials.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A curvature detection and correction device for a composite material, characterized in that it comprises a rotating fixed frame and a detection and correction frame, wherein the rotating fixed frame is installed at the front end of the detection and correction frame, wherein the rotating fixed frame has two groups and is arranged opposite to each other, wherein the rotating fixed frame comprises a fixed base, a rotating base and a clamping plate, wherein a rotating motor is fixedly arranged at the outer end of the fixed base, wherein one end of the rotating motor is fixedly installed above the fixed base, wherein the output end of the rotating motor passes through the fixed base and is fixedly connected to the rotating base through the mounting plate, wherein four clamping plates are distributed along a rectangle on the inner side of the rotating base, wherein the clamping plate The clamping plates are arranged in pairs, and each group is fixedly mounted on a rotating seat by a clamping assembly. The detection and correction frame includes a mounting base, a six-axis manipulator and a clamping seat. The mounting base is fixedly mounted on the bottom of the six-axis manipulator by bolts. The moving end of the six-axis manipulator is fixedly connected to the clamping seat by bolts. Three groups of clamping ports are arranged on the clamping seat. A three-dimensional scanner, a flame nozzle and a water nozzle are respectively mounted on the three groups of clamping ports. The three-dimensional scanner is electrically connected to a host computer, and the flame nozzle and the water nozzle are connected to combustion gas and cooling water respectively through pipes.

[0006] Preferably, the mounting plate is circular and is fixed to the inner side of the rotating seat by bolts.

[0007] Preferably, the clamping assembly includes a clamping motor, a fixed plate, a forward ball screw and a reverse ball screw. A slot is provided on each clamping plate on the rotating seat. The clamping motor is fixedly installed on the outer side of the rotating seat. There are two groups of fixed plates, which are respectively fixedly installed on both sides of the slot on the back side of the rotating seat. Both ends of the forward ball screw and the reverse ball screw are rotatably connected to the fixed plate through bearing seats respectively. The forward ball screw and the reverse ball screw are connected through a coupling. One end of the reverse ball screw passes through the fixed plate and is connected to the output end of the clamping motor through a coupling. The two groups of clamping plates are synchronously moved relative to each other on the forward ball screw and the reverse ball screw through nuts.

[0008] Preferably, two groups of guide columns are arranged between the two groups of fixing plates, the two groups of guide columns penetrate the clamping plates, and the clamping plates slide along the guide columns.

[0009] Preferably, the six-axis manipulator includes six groups of stepper motors, a chassis mounting plate, a chassis, a first robotic arm, a second robotic arm, a third robotic arm and a mounting head, the six groups of stepper motors are respectively a first stepper motor, a second stepper motor, a third stepper motor, a fourth stepper motor, a fifth stepper motor and a sixth stepper motor, the first stepper motor is fixedly mounted on the mounting base through a motor mounting frame, a motor bearing seat is installed above the motor mounting frame at the output end of the first stepper motor, a deep groove ball bearing and a thrust ball bearing are arranged between the output end of the first stepper motor and the motor bearing seat, the first and stepper motor output ends are fixedly connected to the chassis mounting plate mounting plate, the chassis is fixedly mounted on the chassis mounting plate, and the bottom of the first robotic arm rotates Hinged on the chassis, the second stepper motor is fixedly installed in the chassis, the output end of the second stepper motor is connected to the first mechanical arm through a first drive shaft, the top of the first mechanical arm is rotatably hinged with the second mechanical arm, the third stepper motor is fixedly installed in the second mechanical arm, the output end of the third stepper motor is connected to the second mechanical arm through a second drive shaft, the fourth stepper motor is installed on the upper part of the second mechanical arm, the output end of the fourth stepper motor is fixedly connected to the third mechanical arm, the fifth stepper motor is installed in the middle part of the third mechanical arm, the front end of the third mechanical arm is rotatably connected to the sixth stepper motor through the motor shaft, the fifth stepper motor is connected to the motor shaft, and the mounting head is fixedly connected to the output end of the sixth stepper motor.

[0010] Preferably, the end of the output end of the second stepper motor is rotatably connected to one end of the chassis via a first bearing seat and a deep groove ball bearing, and the end of the output end of the third stepper motor is fixedly connected to the first mechanical arm in a limited manner.

[0011] Preferably, the fifth stepper motor and the motor shaft are both fixedly connected to a synchronous pulley on the same side, and the synchronous pulleys are connected via a synchronous belt transmission.

[0012] Preferably, the clamping seat is fixedly connected to the mounting head by bolts, and an output angle is provided between the flame nozzle and the water nozzle.

[0013] A method for detecting and correcting the curvature of a composite material, characterized in that it comprises the following steps:

[0014] (1) First, the unmounted composite material is clamped and fixed by a rotating fixed frame, and the composite material is scanned by a three-dimensional scanner on the detection and correction frame. The rotation angle of the rotating fixed frame and the scanning distance of the six-axis manipulator are adjusted respectively to achieve an overall accurate scanning of the composite material, obtain a 3D scan image and upload it to the host computer for storage;

[0015] (2) Subsequently, the assembled material is clamped and fixed by a rotating fixing frame, and step (1) is repeated to obtain a 3D scan of the assembled material after installation. The 3D scan obtained in (1) is compared with the upper computer to determine whether correction is required and the specific position that needs correction is obtained;

[0016] (3) According to the position information that needs to be corrected, the combination material that needs to be corrected is subjected to water and fire correction by adjusting the rotation angle of the rotating fixed frame and the specific position of the six-axis manipulator. After the correction is completed, repeat the steps in (1) to scan the corrected combination material again. When the obtained 3D scan image is consistent with that in (1), the detection and correction are completed.

[0017] In summary, the present invention has the following beneficial effects:

[0018] 1. The present invention uses a three-dimensional scanner to comprehensively scan the composite material before and after installation, and compares the 3D images before and after to detect the curvature change of the composite material, and determines the position information that needs to be corrected later, thereby reducing the time and cost of detection.

[0019] 2. The present invention can realize all-round and non-dead-angle scanning and water-fire correction of the composite material by a three-dimensional scanner, a flame nozzle and a water nozzle through a rotating fixed frame and a detection and correction frame, avoiding the previous time-consuming and labor-intensive construction judgment by the naked eye, and greatly saving construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the front side of the present invention;

[0021] Figure 2 It is a schematic diagram of the overall structure of the present invention from a top view;

[0022] Figure 3 It is a schematic diagram of the side structure of the detection and correction frame in the present invention;

[0023] Figure 4 yes Figure 1 Schematic diagram of the structure at AA in the middle;

[0024] Figure 5 It is a structural schematic diagram of the clamping assembly in the present invention. DETAILED DESCRIPTION

[0025] The specific implementation manner of the present invention is further described below in conjunction with the accompanying drawings, and this embodiment does not constitute a limitation of the present invention.

[0026] like Figures 1 to 5 The curvature detection and correction device of a composite material shown in the figure comprises a rotating fixed frame 1 and a detection and correction frame 2, the rotating fixed frame 1 is installed at the front end of the detection and correction frame 2, there are two sets of rotating fixed frames 1 and they are arranged opposite to each other, the rotating fixed frame 1 comprises a fixed base 3, a rotating seat 4 and a clamping plate 5, a rotating motor 6 is fixedly arranged at the outer end of the fixed base 3, one end of the rotating motor 6 is fixedly installed above the fixed base 3, the output end of the rotating motor 6 passes through the fixed base 3 and is fixedly connected to the rotating seat 4 through a mounting plate 7, the mounting plate 7 is circular, and is fixedly installed on the inner side of the rotating seat 4 by bolts, and the inner side of the rotating seat 4 is distributed along a rectangular shape There are four clamping plates 5, and the clamping plates 5 are arranged in pairs. Each group of clamping plates 5 is fixedly mounted on the rotating seat 4 through a clamping assembly. The detection and correction frame 2 includes a mounting base 8, a six-axis manipulator and a clamping seat 9. The mounting base 8 is fixedly mounted on the bottom of the six-axis manipulator by bolts. The moving end of the six-axis manipulator is fixedly connected to the clamping seat 9 by bolts. Three groups of clamping ports are arranged on the clamping seat 9. A three-dimensional scanner 10, a flame nozzle 11 and a water nozzle 12 are respectively installed on the three groups of clamping ports. The three-dimensional scanner 10 is electrically connected to a host computer. The flame nozzle 11 and the water nozzle 12 are connected to combustion gas and cooling water through pipelines respectively.

[0027] The clamping assembly includes a clamping motor 13, a fixed plate 14, a forward ball screw 15 and a reverse ball screw 16. A slot 17 is provided at each clamping plate 5 on the rotating seat 4. The clamping motor 13 is fixedly installed on the outer side of the rotating seat 4. There are two groups of fixed plates 14, which are respectively fixedly installed on both sides of the slot 17 on the back side of the rotating seat 4. The two ends of the forward ball screw 15 and the reverse ball screw 16 are respectively rotatably connected to the fixed plate 14 through bearing seats. The forward ball screw 15 and the reverse ball screw 16 are connected through a coupling. One end of the reverse ball screw 16 penetrates the fixed plate 14 and is connected to the output end of the clamping motor 13 through a coupling. The two groups of clamping plates 5 are synchronously moved relative to each other on the forward ball screw 15 and the reverse ball screw 16 through nuts. Two groups of guide columns 18 are provided between the two groups of fixed plates 14. The two groups of guide columns 18 penetrate the clamping plate 5, and the clamping plate 5 slides along the guide columns 18.

[0028] The six-axis manipulator includes six groups of stepper motors, a chassis mounting plate 19, a chassis 20, a first mechanical arm 21, a second mechanical arm 22, a third mechanical arm 23 and a mounting head 24. The six groups of stepper motors are respectively a first stepper motor 25, a second stepper motor 26, a third stepper motor 27, a fourth stepper motor 28, a fifth stepper motor 29 and a sixth stepper motor 30. The first stepper motor 25 is fixedly mounted on the mounting base 8 through a motor mounting frame 31. A motor bearing seat is installed above the motor mounting frame 31 at the output end of the first stepper motor 25. A deep groove ball bearing and a thrust ball bearing are arranged between the output end of the first stepper motor 25 and the motor bearing seat. The first and stepper motor output ends are fixedly connected to the mounting plate 7 of the chassis mounting plate 19. The chassis 20 is fixedly mounted on the chassis mounting plate 19. The bottom of the first mechanical arm 21 is rotatably hinged at On the chassis 20, the second stepper motor 26 is fixedly installed in the chassis 20, the output end of the second stepper motor 26 is connected to the first mechanical arm 21 through the first drive shaft 32, the top of the first mechanical arm 21 is rotatably hinged with the second mechanical arm 22, the third stepper motor 27 is fixedly installed in the second mechanical arm 22, the output end of the third stepper motor 27 is connected to the second mechanical arm 22 through the second drive shaft 33, the fourth stepper motor 28 is installed on the upper part of the second mechanical arm 22, the output end of the fourth stepper motor 28 is fixedly connected to the third mechanical arm 23, the fifth stepper motor 29 is installed in the middle part of the third mechanical arm 23, the front end of the third mechanical arm 23 is rotatably connected to the sixth stepper motor 30 through the motor shaft 34, the fifth stepper motor 29 is connected to the motor shaft 34, and the mounting head 24 is fixedly connected to the output end of the sixth stepper motor 30.

[0029] The end of the output end of the second stepper motor 26 is rotatably connected to one end of the chassis 20 through a bearing seat and a deep groove ball bearing, and the end of the output end of the third stepper motor 27 is limitedly fixedly connected to the first mechanical arm 21, and the connection rotation is smoother and more stable.

[0030] The fifth stepper motor 29 and the motor shaft 34 are both fixedly connected with a synchronous pulley 35 on the same side. The synchronous pulleys 35 are connected through a synchronous belt 36. The sixth stepper motor 30 is driven to rotate by the fifth stepper motor 29.

[0031] The clamping seat 9 is fixedly connected to the mounting head 24 by bolts, and an output angle is set between the flame nozzle 11 and the water nozzle 12 to achieve seamless connection between heating correction and water cooling.

[0032] A method for detecting and correcting the curvature of a composite material, characterized in that it comprises the following steps:

[0033] (1) First, the assembled material that has not been installed is clamped and fixed by the rotating fixed frame 1, and the assembled material is scanned by the three-dimensional scanner 10 on the detection and correction frame 2. By adjusting the rotation angle of the rotating fixed frame 1 and the scanning distance of the six-axis manipulator respectively, the overall accurate scanning of the assembled material is achieved, and a 3D scan image is obtained and uploaded to the host computer for storage.

[0034] (2) Subsequently, the assembled material is clamped and fixed by the rotating fixing frame 1, and the step (1) is repeated to obtain a 3D scan image of the assembled material after installation. The 3D scan image obtained in (1) is compared with the upper computer to determine whether correction is required and the specific position that needs correction is obtained.

[0035] (3) According to the position information that needs to be corrected, the combination material that needs to be corrected is subjected to water and fire correction by adjusting the rotation angle of the rotating fixed frame 1 and the specific position of the six-axis manipulator. After the correction is completed, the steps in (1) are repeated to scan the corrected combination material again. When the obtained 3D scan image is consistent with that in (1), the detection and correction are completed.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions should also be deemed to fall within the protection scope of the technical solution of the present invention.

Claims

1. A method for detecting and correcting the curvature of a composite material, characterized in that: The curvature detection and correction device is completed, and the curvature detection and correction device includes a rotating fixed frame and a detection and correction frame. The rotating fixed frame is installed at the front end of the detection and correction frame. The rotating fixed frame has two groups and is arranged opposite to each other. The rotating fixed frame includes a fixed base, a rotating seat and a clamping plate. A rotating motor is fixedly arranged at the outer end of the fixed base. One end of the rotating motor is fixedly installed above the fixed base. The output end of the rotating motor passes through the fixed base and is fixedly connected to the rotating seat through the mounting plate. Four clamping plates are distributed along a rectangle on the inner side of the rotating seat. The plates are arranged in pairs, and each group of the clamping plates is fixedly mounted on the rotating seat through a clamping assembly. The detection and correction frame includes a mounting base, a six-axis manipulator and a clamping seat. The mounting base is fixedly mounted on the bottom of the six-axis manipulator through bolts, and the moving end of the six-axis manipulator is fixedly connected to the clamping seat through bolts. Three groups of clamping ports are arranged on the clamping seat, and three-dimensional scanners, flame nozzles and water nozzles are respectively installed on the three groups of clamping ports. The three-dimensional scanner is electrically connected to a host computer, and the flame nozzles and the water nozzles are respectively connected to combustion gas and cooling water through pipelines; The mounting plate is circular and is fixed to the inner side of the rotating seat by bolts; The clamping assembly comprises a clamping motor, a fixing plate, a forward ball screw and a reverse ball screw. A slot is provided on each clamping plate on the rotating seat. The clamping motor is fixedly mounted on the outer side of the rotating seat. Two groups of fixing plates are provided, which are respectively fixedly mounted on both sides of the slot on the back side of the rotating seat. Both ends of the forward ball screw and the reverse ball screw are rotatably connected with the fixing plate through a bearing seat respectively. The forward ball screw and the reverse ball screw are connected through a coupling. One end of the reverse ball screw passes through the fixing plate and is connected with the output end of the clamping motor through a coupling. The two groups of clamping plates are synchronously moved relative to each other on the forward ball screw and the reverse ball screw through nuts. Two groups of guide posts are arranged between the two groups of fixed plates, and the two groups of guide posts penetrate the clamping plates, and the clamping plates slide along the guide posts; The six-axis manipulator includes six groups of stepper motors, a chassis mounting plate, a chassis, a first robotic arm, a second robotic arm, a third robotic arm and a mounting head. The six groups of stepper motors are respectively a first stepper motor, a second stepper motor, a third stepper motor, a fourth stepper motor, a fifth stepper motor and a sixth stepper motor. The first stepper motor is fixedly mounted on the mounting base through a motor mounting frame. A motor bearing seat is installed above the motor mounting frame at the output end of the first stepper motor. A deep groove ball bearing and a thrust ball bearing are arranged between the output end of the first stepper motor and the motor bearing seat. The output end of the first stepper motor is fixedly connected to the chassis mounting plate. The chassis is fixedly mounted on the chassis mounting plate. The bottom of the first robotic arm is rotatably hinged to the bottom On the disk, the second stepper motor is fixedly installed in the chassis, the output end of the second stepper motor is connected to the first mechanical arm through the first drive shaft, the top of the first mechanical arm is rotatably hinged with the second mechanical arm, the third stepper motor is fixedly installed in the second mechanical arm, the output end of the third stepper motor is connected to the second mechanical arm through the second drive shaft, the fourth stepper motor is installed on the upper part of the second mechanical arm, the output end of the fourth stepper motor is fixedly connected to the third mechanical arm, the fifth stepper motor is installed in the middle part of the third mechanical arm, the front end of the third mechanical arm is rotatably connected to the sixth stepper motor through the motor shaft, the fifth stepper motor is connected to the motor shaft, and the mounting head is fixedly connected to the output end of the sixth stepper motor; The end of the output end of the second stepper motor is rotatably connected to one end of the chassis through a first bearing seat and a deep groove ball bearing, and the end of the output end of the third stepper motor is fixedly connected to the first mechanical arm in a limited manner; The fifth stepper motor and the motor shaft are both fixedly connected to a synchronous belt pulley on the same side, and the synchronous belt pulleys are connected through a synchronous belt transmission; The clamping seat is fixedly connected to the mounting head by bolts, and an output angle is set between the flame nozzle and the water nozzle; The method comprises the following steps: (1) First, the unmounted composite material is clamped and fixed by a rotating fixed frame, and the composite material is scanned by a three-dimensional scanner on the detection and correction frame. The rotation angle of the rotating fixed frame and the scanning distance of the six-axis manipulator are adjusted respectively to achieve an overall accurate scanning of the composite material, obtain a 3D scan image and upload it to the host computer for storage; (2) Subsequently, the assembled material is clamped and fixed by a rotating fixing frame, and step (1) is repeated to obtain a 3D scan of the assembled material after installation. The 3D scan obtained in (1) is compared with the upper computer to determine whether correction is required and the specific position that needs correction is obtained; (3) According to the position information that needs to be corrected, the combination material that needs to be corrected is subjected to water and fire correction by adjusting the rotation angle of the rotating fixed frame and the specific position of the six-axis manipulator. After the correction is completed, repeat the steps in (1) to scan the corrected combination material again. When the obtained 3D scan image is consistent with that in (1), the detection and correction is completed.

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