Method, Processor, Device, and Storage Medium for Detecting Mechanical Structure Parameters

Abstract

An embodiment of the present invention provides a method, a processor, a device, and a storage medium for detecting mechanical structure parameters, belonging to the field of mechanical detection. The method for detecting mechanical structure parameters includes: obtaining the positions of a plurality of feature points on a workpiece, where the number of feature points is at least four and are respectively located on different outer cross-sections of the workpiece; determining the axis position of the workpiece according to the positions of the plurality of feature points based on the relative position relationship between the plurality of pre-determined feature points and the axis of the workpiece; comparing the axis positions of the plurality of workpieces to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of the plurality of workpieces. The present invention can solve the problem of difficult measurement of detection parameters.

Description

Technical Field

[0001] The present invention relates to the field of mechanical detection, and particularly to a method, a processor, a device and a storage medium for detecting mechanical structure parameters. Background Art

[0002] In the prior art, an assembled mechanical structure (for example, a pumping unit) usually includes multiple workpieces (for example, an oil cylinder and a concrete cylinder). The parameters of these mechanical structures can include the coaxiality between the workpieces. Taking the pumping unit as an example, the pumping unit can include an oil cylinder and a concrete cylinder connected to each other. Detecting the coaxiality of the oil cylinder and the concrete cylinder is crucial for ensuring the stable operation of the piston rod of the oil cylinder in the concrete cylinder, and can avoid the situation of uneven wear of the piston of the oil cylinder due to uneven force. However, some detection parameters of the assembled mechanical structure need to be measured inside the cavity of the mechanical structure, and the space inside the cavity is relatively narrow, resulting in difficulties in measuring the detection parameters. Summary of the Invention

[0003] An object of an embodiment of the present invention is to provide a method, a processor, a device and a storage medium for detecting mechanical structure parameters to solve the problem of difficult measurement of detection parameters existing in the prior art.

[0004] To achieve the above object, a first aspect of an embodiment of the present invention provides a method for detecting mechanical structure parameters. The mechanical structure includes multiple workpieces, and the method includes:

[0005] Obtaining the positions of multiple feature points on the workpiece, where the number of feature points is at least four and are respectively located on different outer cross-sections of the workpiece;

[0006] Based on the relative position relationship between the multiple feature points and the axis of the workpiece determined in advance, determining the axis position of the workpiece according to the positions of the multiple feature points;

[0007] Comparing the axis positions of the multiple workpieces to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of the multiple workpieces.

[0008] In an embodiment of the present invention, the determination of the relative position relationship between the multiple feature points and the axis of the workpiece includes: obtaining the initial position data of the local measurement points and the initial position data of the multiple feature points of the workpiece by means of laser scanning, where the local measurement points include inner cross-section measurement points and / or end face measurement points; performing axis fitting according to the initial position data of the local measurement points to obtain the initial position data of the axis of the workpiece; and determining the relative position relationship between the multiple feature points and the axis of the workpiece according to the initial position data of the axis and the initial position data of the multiple feature points.

[0009] In an embodiment of the present invention, determining the relative position relationship between a plurality of feature points and the axis of the workpiece according to the initial position data of the axis and the initial position data of the plurality of feature points includes: establishing a three-dimensional space coordinate system according to the initial position data of the plurality of feature points; determining the coordinates of the axis in the three-dimensional space coordinate system according to the initial position data of the axis, so as to obtain the relative position relationship.

[0010] In an embodiment of the present invention, obtaining the positions of a plurality of feature points on the workpiece includes: obtaining the positions of a plurality of feature points on the workpiece by means of laser scanning.

[0011] In an embodiment of the present invention, the mechanical structure includes a pumping unit, the plurality of workpieces include an oil cylinder and a concrete cylinder, the oil cylinder includes a piston rod, and the inner cross-section measurement points include the surface measurement points of the piston rod.

[0012] In an embodiment of the present invention, the detection parameters further include the parallelism of the plurality of workpieces.

[0013] A second aspect of an embodiment of the present invention provides a processor configured to execute the method for detecting mechanical structure parameters according to the above.

[0014] A third aspect of an embodiment of the present invention provides a device for detecting mechanical structure parameters. The mechanical structure includes a plurality of workpieces. The device includes: a position detection device for detecting the positions of a plurality of feature points on the workpiece; and a processor according to the above.

[0015] In an embodiment of the present invention, the position detection device is a laser scanning device.

[0016] A fourth aspect of an embodiment of the present invention provides a machine-readable storage medium. A program or instruction is stored on the machine-readable storage medium. When the program or instruction is executed by a processor, the method for detecting mechanical structure parameters according to the above is implemented.

[0017] Through the above technical solution, the positions of multiple feature points on the workpiece are obtained, and based on the relative position relationship between the multiple feature points and the axis of the workpiece determined in advance, the axis position of the workpiece is determined according to the positions of the multiple feature points, and then the axis positions of multiple workpieces are compared to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of multiple workpieces. The above method can set multiple feature points on each workpiece in advance, so as to determine the relative position relationship between the multiple feature points on each workpiece and the axis of the workpiece in advance before assembling the mechanical structure. After the subsequent mechanical structure is assembled, only the current positions of the multiple feature points need to be obtained, and then the axis position of the workpiece can be determined according to this relative position relationship and the positions of the multiple feature points, so that the axis positions of each workpiece can be compared, realizing the detection of parameters such as coaxiality, reducing the detection cost, and eliminating the need for internal data collection inside the mechanical structure, effectively avoiding the problems of difficult or impossible measurement of detection parameters caused by the narrow detection space after assembly or the enclosure of some features in the cavity after assembly.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0020] Figure 1 Schematically shows a flowchart of a method for detecting mechanical structure parameters in an embodiment of the present invention;

[0021] Figure 2 Schematically shows a top view of the structure of the pumping unit 100 in an embodiment of the present invention;

[0022] Figure 3 Schematically shows a flowchart of parameter detection in an embodiment of the present invention;

[0023] Figure 4 Schematically shows a top view of the axis detection of the oil cylinder 110 in an embodiment of the present invention;

[0024] Figure 5 Schematically shows a schematic diagram of the feature point setting of the oil cylinder 110 in an embodiment of the present invention;

[0025] Figure 6 Schematically shows a top view of the structure of the concrete cylinder 130 in an embodiment of the present invention;

[0026] Figure 7 Schematically shows a schematic diagram of the scanning area of the concrete cylinder 130 in an embodiment of the present invention;

[0027] Figure 8 Schematically shows a top view of the detection of the pumping unit 100 in an embodiment of the present invention.

[0028] Description of the reference numerals

[0029] Specific embodiments

[0030] The following will describe in detail the specific embodiments of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0031] Figure 1 Schematically shows a flowchart of a method for detecting mechanical structure parameters in an embodiment of the present invention. As Figure 1 shown, in an embodiment of the present invention, a method for detecting mechanical structure parameters is provided. The mechanical structure includes multiple workpieces. Taking the application of this method to a processor as an example, this method may include the following steps:

[0032] Step S102, obtain the positions of multiple feature points on the workpiece, where the number of feature points is at least four and are respectively located on different outer cross-sections of the workpiece.

[0033] It can be understood that the feature points are pre-marked identification points located on different outer cross-sections of the workpiece. The number of feature points is multiple, specifically four or more. And each feature point is located on a different cross-section outside the workpiece, so that the feature points located on different outer cross-sections can determine a three-dimensional space coordinate system. When the number of feature points is greater than 4, four of them can be used as the main feature points, and the remaining feature points can be used to assist in improving the positioning accuracy. The shape of the workpiece may include, but is not limited to, a cylindrical shape. Further, the cylindrical workpiece may include, for example, an oil cylinder, a concrete cylinder, etc. In some embodiments, the shape of the workpiece may also be an elliptical cylinder.

[0034] Specifically, the processor can obtain the positions of multiple feature points on the workpiece in the assembled mechanical structure. The way to obtain the positions of the feature points can be to obtain the positions of the feature points measured by the user through a measuring instrument and input, or directly obtain the positions of the feature points measured by the position measuring instrument. Further, the position measuring instrument may include, but is not limited to, an image acquisition device, a laser scanning device, etc.

[0035] Step S104, based on the relative position relationship between the multiple pre-determined feature points and the axis of the workpiece, determine the axis position of the workpiece according to the positions of the multiple feature points.

[0036] It can be understood that the relative positional relationship between multiple feature points and the workpiece axis is workpiece information determined in advance, which can be determined in advance before assembling the mechanical structure, and then can be associated and bound with the relevant information of the corresponding workpiece and stored.

[0037] Specifically, the processor can determine the positions of the axes of each workpiece in the assembled mechanical structure according to the relative positional relationship between multiple feature points determined in advance and the positions of the multiple feature points obtained. Specifically, the current coordinates of the obtained feature points can be matched one by one with the coordinates of the feature points in the relative positional relationship, so as to restore the structural models of each workpiece and determine the positions of the axes of each workpiece in the current mechanical structure.

[0038] Step S106: Compare the axis positions of multiple workpieces to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of multiple workpieces.

[0039] It can be understood that the coaxiality of multiple workpieces can be the deviation of the axes of each workpiece when the multiple workpieces are placed end to end. The coaxiality of two workpieces is the degree to which the axes of the two workpieces are on the same straight line. Coaxiality can also be understood as coaxiality deviation, and the coaxiality deviation can specifically include the coaxiality deviation range and the coaxiality deviation direction, etc. The detection parameters of the mechanical structure can be parameters characterizing the characteristics of each component of the mechanical structure, such as the coaxiality of the workpiece.

[0040] Specifically, after the processor obtains the axis positions of each workpiece, it can compare the axis positions of multiple workpieces whose coaxiality needs to be detected, so as to obtain the detection parameters of the mechanical structure, and the detection parameters can include the coaxiality of multiple workpieces.

[0041] The above method for detecting the parameters of the mechanical structure obtains the positions of multiple feature points on the workpiece, and based on the relative positional relationship between multiple feature points determined in advance, determines the axis positions of the workpieces according to the positions of the multiple feature points, and then compares the axis positions of multiple workpieces to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of multiple workpieces. The above method can set multiple feature points on each workpiece in advance, so as to determine the relative positional relationship between multiple feature points on each workpiece and the workpiece axis in advance before assembling the mechanical structure. After the subsequent mechanical structure is assembled, only the current positions of multiple feature points need to be obtained, and the axis positions of the workpieces can be determined according to the relative positional relationship and the positions of multiple feature points, so as to compare the axis positions of each workpiece and realize the detection of parameters such as coaxiality, reduce the detection cost, and there is no need to collect internal data inside the mechanical structure, effectively avoiding the problems of difficult or impossible measurement of detection parameters due to the narrow detection space inside the mechanical structure after assembly or some features being enclosed in the cavity after assembly.

[0042] In one embodiment, determining the relative position relationship between multiple feature points and the workpiece axis includes: obtaining the initial position data of local measurement points of the workpiece and the initial position data of multiple feature points by means of laser scanning, where the local measurement points include inner cross-section measurement points and / or end-face measurement points; performing axis fitting based on the initial position data of the local measurement points to obtain the initial position data of the axis of the workpiece; and determining the relative position relationship between the multiple feature points and the workpiece axis according to the initial position data of the axis and the initial position data of the multiple feature points.

[0043] It can be understood that the local measurement points of the workpiece are the detection points or positioning points of a specific area of the workpiece. The specific area may include the inner cross-section of the workpiece and / or the two end faces of the workpiece. The inner cross-section measurement points are the detection points or positioning points on the inner cross-section of the workpiece, and the end-face measurement points are the detection points or positioning points on the two end faces of the workpiece. Since the positions of the workpieces that make up the mechanical structure are usually different before and after assembly, the initial position data of the local measurement points are the position data of the local measurement points on the workpiece before the mechanical structure is assembled, the initial position data of the multiple feature points are the position data of the multiple feature points on the workpiece before the mechanical structure is assembled, and the initial position data of the axis are the position data of the axis on the workpiece before the mechanical structure is assembled. The initial position data of the axis can be specifically determined by the initial position data of the local measurement points.

[0044] Specifically, before assembling the mechanical structure, the processor can scan the local measurement points (including inner cross-section measurement points and / or end-face measurement points) and multiple feature points of a single workpiece by means of laser scanning, so as to obtain the initial position data of the local measurement points of the workpiece and the initial position data of the multiple feature points. Then, axis fitting is performed based on the initial position data of the local measurement points. Specifically, existing fitting software can be used to perform axis fitting on the initial position data of the local measurement points to determine the initial position data of the axis of the workpiece, so that the relative position relationship (i.e., the spatial position relationship) between the multiple feature points and the workpiece axis can be determined according to the initial position data of the axis and the initial position data of the multiple feature points.

[0045] In the embodiment of the present application, by using the method of laser scanning to obtain the initial position data of the measurement points on the inner cross-section and / or end face of a single workpiece, a more accurate initial position of the axis can be obtained, so as to obtain a relatively accurate relative position relationship between multiple feature points and the workpiece axis.

[0046] In one embodiment, determining the relative position relationship between multiple feature points and the workpiece axis according to the initial position data of the axis and the initial position data of the multiple feature points includes: establishing a three-dimensional space coordinate system according to the initial position data of the multiple feature points; and determining the coordinates of the axis in the three-dimensional space coordinate system according to the initial position data of the axis to obtain the relative position relationship.

[0047] It can be understood that when the number of feature points is 4, a three-dimensional space coordinate system can be established. Furthermore, the position of the axis in this three-dimensional space coordinate system can be determined based on the initial position data of the axis, so that the relative position relationship between multiple feature points and the workpiece axis can be obtained. When the number of feature points is greater than 4, some of these points can be selected to establish a three-dimensional space coordinate system, and the remaining points are used to improve the data fitting reference points. The more points there are, the higher the fitting accuracy, and thus a more accurate relative position relationship between multiple feature points and the workpiece axis can be obtained.

[0048] In one embodiment, obtaining the positions of multiple feature points on a workpiece includes: obtaining the positions of multiple feature points on the workpiece by means of laser scanning.

[0049] Specifically, a laser scanning device can be used to scan the workpiece to determine the positions of multiple feature points.

[0050] In one embodiment, the mechanical structure includes a pumping unit, multiple workpieces include an oil cylinder and a concrete cylinder, the oil cylinder includes a piston rod, and the inner cross-section measurement points include the surface measurement points of the piston rod.

[0051] It can be understood that when the mechanical structure is a pumping unit, the multiple workpieces in the pumping unit can include an oil cylinder and a concrete cylinder. The oil cylinder can include a piston rod connected to the cylinder body. The piston rod is located at one end of the oil cylinder and can perform telescopic movement inside the concrete cylinder. Therefore, the positions of the surface measurement points of the piston rod can be measured, and the positions of the surface measurement points of the piston rod can be equivalent to the positions of the inner cross-section of the oil cylinder. Moreover, since the relative position relationship between the measurement points on the surface of the piston rod and the axis of the piston rod is fixed, and the axis of the piston rod is equivalent to the axis of the oil cylinder, the initial position data of the axis of the piston rod, that is, the initial position data of the axis of the oil cylinder, can be obtained by performing axis fitting on the initial position data of the measurement points on the surface of the piston rod.

[0052] In the embodiments of the present application, by directly detecting the positions of the surface measurement points of the piston rod, it is not necessary to obtain the positions of the measurement points on the inner cross-section of the oil cylinder, and the position data of the measurement points can be obtained more simply, shortening the time cost.

[0053] Taking a pumping unit as an example, the pumping unit may include a cylinder (including a piston rod), a water tank, a concrete cylinder, and a hopper that are connected in sequence. During the assembly process, it is necessary to ensure the coaxiality of the cylinder axis and the concrete cylinder axis. In addition, the number of cylinders may be multiple (for example, 2), and correspondingly, the number of concrete cylinders may also be multiple (for example, 2). When multiple cylinders are placed side by side, the parallelism between the cylinder axes needs to be considered. When multiple concrete cylinders are placed side by side, the parallelism between the concrete cylinder axes needs to be considered. In the prior art, the detection of parallelism can usually be carried out by using a level to detect the inclination angles of the piston rod head and the hopper end. When the inclination angles of the piston rod head and the hopper end are the same, it is generally considered that the horizontal inclination angles between multiple cylinders are the same as those between multiple concrete cylinders, so as to determine that the parallelism between multiple cylinders is the same as the parallelism between multiple concrete cylinders. However, there are the following problems in detecting parallelism by using a level: the detection objects are selected as the piston rod and the hopper for detection, and the detection requirement data is not truly reflected; the detection data is incomplete, and the detection data is only in one degree-of-freedom direction, and the data in other directions cannot be detected. Affected by the placement position of the level, the results of the horizontal inclination angles detected by placing the level in different positions may be different, which may affect the judgment of the consistency of the parallelism of the cylinder axes and the parallelism of the concrete cylinder axes, that is, there may be a problem of inaccurate measurement. Therefore, the parallelism can also be detected by the method for detecting mechanical structure parameters described above. It can be understood that the above prior art can only determine whether it is parallel through a single horizontal angle and does not have uniqueness in space. The method for detecting mechanical structure parameters provided by this application determines parallelism through the axis, which belongs to the determination of spatial position and the data is more complete.

[0054] In one embodiment, the detection parameter further includes the parallelism of multiple workpieces.

[0055] It can be understood that since multiple workpieces can be connected side by side in addition to the end-to-end connection method. For example, the cylinder and the concrete cylinder can be connected end to end, the cylinders can be connected side by side, and the concrete cylinders can be connected side by side. Therefore, the detection parameters of the mechanical structure can include parallelism in addition to coaxiality. Specifically, the parallelism can include the parallelism between cylinders, the parallelism between concrete cylinders, the parallelism between the axes of the cylinder and the concrete cylinder, the parallelism between multiple cylinders and multiple concrete cylinders, etc. Specifically, when comparing the axis positions of multiple workpieces, in addition to obtaining the coaxiality between multiple workpieces in the mechanical structure, the parallelism between multiple workpieces can also be obtained. The parallelism of two workpieces is the degree of parallelism between the axes of the two workpieces. The parallelism can also be understood as the parallelism deviation, and the parallelism deviation can specifically include the parallelism deviation range and the parallelism deviation direction, etc.

[0056] The method for detecting mechanical structure parameters provided by the embodiments of the present invention can be used for the detection and adjustment of the coaxiality and parallelism of the double cylinders in a hydraulic system. Specifically, it can be related to the detection of the coaxiality and parallelism of the pumping unit in a concrete pumping equipment and the process of assembly and adjustment.

[0057] In the assembly workshop of the heavy machinery industry, during the assembly process of the oil cylinder and the concrete cylinder of the pumping unit, it is necessary to ensure the coaxiality and parallelism of the oil cylinder and the concrete cylinder to ensure the stability of the piston rod during operation and avoid uneven force on the piston and eccentric wear. At present, there is no effective method in this field to detect and control the coaxiality and parallelism. Therefore, it is necessary to develop a special detection device and detection method to guide users to make adjustments and output an effective detection report to extend the service life of the piston.

[0058] Currently, the inclination angle of the piston rod head and the inclination angle of the hopper end are detected by using a level. When the two angles are confirmed to be the same, it is determined that the coaxiality and parallelism are the same. This method has the following technical disadvantages: 1. The detection object selects the piston rod and the hopper for detection, which does not truly reflect the detection requirement data; 2. The detection data is incomplete. The detection data is only in one degree-of-freedom direction, and the data in other directions cannot be detected; 3. There is no data output during the detection process, and the adjustment by workers is only a tentative adjustment, which takes a long time.

[0059] As Figures 2 to 8 shown, taking the pumping unit 100 as an example, the structure of the pumping unit 100 mainly consists of an oil cylinder 110, a water tank 120, a concrete cylinder 130, and a hopper 140. The oil cylinder 110 includes a first oil cylinder (110-1) and a second oil cylinder (110-2). The concrete cylinder 130 includes a first concrete cylinder (130-1) and a second concrete cylinder (130-2). During the assembly process, it is necessary to ensure the coaxiality of the axes of the oil cylinder 110 and the concrete cylinder 130, as well as the parallelism between the first oil cylinder (110-1) and the second oil cylinder (110-2), and the parallelism between the first concrete cylinder (130-1) and the second concrete cylinder (130-2), etc.

[0060] To ensure the actual coaxiality data of the oil cylinder 110 and the concrete cylinder 130, the axis of the piston rod 112 of the oil cylinder 110 is sampled, and the inner cavity axis of the concrete cylinder 130 is sampled. The coaxiality deviation is determined by comparing the axis deviation data of the two workpieces. The parameter detection process is as Figure 3 shown.

[0061] The specific detection method is as follows:

[0062] 1. Sampling of the axis of the oil cylinder 110

[0063] 1) Step 1: Preset characteristic points. As Figure 4As shown in the figure, a plurality of feature points are preset on the cylinder body 111 structure of the oil cylinder 110. Here, the feature points must be asymmetric points, and the specific positions are not specified in detail. The number of feature points must be greater than or equal to 4, which are mainly used to determine the axis transformation reference positioning of the oil cylinder 110 during the subsequent assembly process.

[0064] 2) Step 2: Stretch the piston rod 112 part of the oil cylinder 110 by a certain distance, and scan the surface of the piston rod 112 through the laser scanning device 200 to obtain the axis position, as Figure 5 shown. Here, other objects can be extended and selected as the detection reference. The detection device can be not limited to the detection workstation.

[0065] 3) Step 3: After fitting the axis, scan the feature points on the surface of the cylinder body 111 again to establish the spatial relationship between the feature points and the axis.

[0066] 4) Step 4: After completing the data acquisition, save the detection data model of the oil cylinder 110 and transfer it to the subsequent assembly station along with the workpiece. The specific regulations are not made here, which are mainly used for the transfer of detection data.

[0067] 2. Axis sampling of the concrete cylinder 130

[0068] 1) Step 1: Preset feature points. As Figure 6 shown, a plurality of feature points are preset on the structure of the concrete cylinder 130. Considering that the concrete cylinder 130 itself is a cylinder and its overall posture will not change by rotating around the axis, so coordinate direction positioning cannot be carried out. To ensure that the detection posture is the actual posture, the feature points here must be asymmetric points for coordinate positioning, and the specific positions are not specified in detail. The number of feature points must be greater than or equal to 4. They are mainly used to determine the axis transformation reference positioning of the concrete cylinder 130 during the subsequent assembly process.

[0069] 2) Step 2: Use the laser scanning device 200 to scan the inner wall of the concrete cylinder 130 through both end faces to obtain the cylindrical surfaces of both end inner walls. Here, the outer wall of the concrete cylinder 130, the outer wall machining reference or both end circular surfaces can be extended and selected as the detection reference, as Figure 7 shown.

[0070] 3) Step 3: After fitting the axis from the cylindrical data obtained at both ends of the concrete cylinder 130, scan the feature points on the surface of the concrete cylinder 130 again to establish the relative coordinate relationship between the feature points and the axis.

[0071] 4) Step 4: After completing the data acquisition, save the detection data model of the concrete cylinder 130 and transfer it to the subsequent assembly station along with the workpiece. The specific regulations are not made here, which are mainly used for the transfer of detection data.

[0072] 3. Coaxiality detection and adjustment

[0073] 1) Step 1: Assemble the oil cylinder 110, water tank 120, concrete cylinder 130, and hopper 140 in the assembly sequence. Here, assemble the workpiece assembly, i.e., the pumping unit 100.

[0074] 2) Step 2: As Figure 8 shown, after the pumping unit 100 is assembled, use a laser scanner to scan the feature points of the oil cylinder 110 and the concrete cylinder 130.

[0075] 3) Step 3: Import the data models obtained from the detection of the oil cylinder 110 and the concrete cylinder 130 in the previous parts 1 and 2 (i.e., the relative position relationship between the feature points of each workpiece and the workpiece axis) into the current detection model (including the position data of the feature points of each workpiece in the assembled mechanical structure). Match the coordinate of the feature points of the imported detection model with the relative coordinate of the feature points after assembly obtained in Step 2 one by one. Assemble and restore the actual working condition according to the relative relationship between the oil cylinder 110 and the concrete cylinder 130 in Step 2 and generate a data model after assembly (including the position data of the feature points of each workpiece in the assembled mechanical structure and the position data of the axes of each workpiece).

[0076] 4) Step 4: In the data model after assembly, take the axis of the oil cylinder 110 in the data model after assembly as the reference (for example, as any axis of the three-dimensional coordinate system), and use the external features of the oil cylinder 110 (any multiple points on the oil cylinder 110) as the reference benchmark to create a three-dimensional coordinate system. In addition, a three-dimensional coordinate system can also be established by other means. After creating the three-dimensional coordinate system, compare the axis of the concrete cylinder 130 with the axis of the oil cylinder 110 in the data model after assembly to confirm the coaxiality deviation data and the deviation direction of the two axes.

[0077] 5) Step 5: In the data model after assembly, take the axis of the first oil cylinder 110-1 in the data model after assembly as the reference (for example, as any axis of the three-dimensional coordinate system), and use the external features of the first oil cylinder 110-1 (any multiple points on the oil cylinder 110) as the reference benchmark to create a three-dimensional coordinate system. In addition, a three-dimensional coordinate system can also be established by other means. After creating the three-dimensional coordinate system, fit the axis of the second oil cylinder 110-2 with the axis of the first oil cylinder 110-1 in the data model after assembly to form the parallelism deviation data. Similarly, the parallelism of the axes of the first concrete cylinder 130-1 and the second concrete cylinder 130-2 and the parallelism data of the combined axes of the first oil cylinder 110-1 / the first concrete cylinder 130-1 and the combined axes of the second oil cylinder 110-2 / the second concrete cylinder 130-2 can also be obtained.

[0078] 6) Step 6: The operator makes reverse adjustments according to the deviation direction of the obtained coaxiality and parallelism data to ensure that the workpiece meets the design structure and process requirements to meet the production of the subsequent processes.

[0079] The method for detecting mechanical structure parameters provided by the embodiments of the present invention regards each assembled component as a unit body, and sets feature points in advance for detection. Specifically: auxiliary feature points are added to the oil cylinder 110 and the concrete cylinder 130 during design, and they are detected in advance before assembly to obtain the features of individual workpieces; through this method, in-factory inspection of parts and components and full-process detection during on-line assembly can be realized, and the information flow of detection data is achieved; through this method, relevant parameters such as the coaxiality, parallelism, and angle of the oil cylinder and the concrete cylinder can be detected synchronously in one detection; this method can realize the detection of relevant parameters on the premise that the direct reference cannot be detected and the reference is not transformed.

[0080] Compared with the spirit level detection method, the method provided by the above embodiments has the following advantages:

[0081] 1. This method realizes the scanning / measuring point detection of parts and components and forms data modeling under the premise of not being assembled. After the workpiece is assembled, the actual state of the detection model is fitted and restored through the assembly conditions to obtain the parallelism and coaxiality data. This method only needs to obtain the data and physical signs of the required parts for detection before the assembly of parts and components, so there is no need to collect internal data in the assembly, effectively avoiding the problems of narrow detection space after assembly or some features being enclosed in the cavity and unable to be measured after assembly.

[0082] 2. This method realizes the overall process quality monitoring from incoming material quality inspection to assembled body. At the same time, each workpiece can output the detection data of parts and components and the detection data of the assembled body. The relevant data can be directly bound to the workpiece or saved in the cloud through informatization, which is convenient for tracing the full-process detection data in the later stage.

[0083] 3. This method displays the deviation vector of the actual deviation direction of the workpiece, and the operator makes targeted adjustments according to the deviation direction and the deviation amount, which is simple, convenient, efficient, and intuitive.

[0084] In some embodiments, the detection device can be a detection workstation (robot), a handheld device, a special machine, or other articulated arm and coordinate measuring devices.

[0085] In some embodiments, the detection object can be the axis of the piston rod selected, or the axis of the oil cylinder body can also be selected for detection; the axis can also be measured using the mounting holes of the water tank 120, the hopper 140, or other positioning points.

[0086] In some embodiments, the axis fitting method can include but is not limited to any form of software or algorithm program.

[0087] The embodiments of the present invention provide a processor configured to execute the method for detecting mechanical structure parameters according to the above embodiments.

[0088] An embodiment of the present invention provides a device for detecting mechanical structure parameters. The mechanical structure includes a plurality of workpieces. The device includes: a position detection device for detecting the positions of a plurality of feature points on the workpieces; and a processor according to the above embodiment.

[0089] In one embodiment, the position detection device is a laser scanning device.

[0090] An embodiment of the present invention provides a machine-readable storage medium. A program or instruction is stored on the machine-readable storage medium. When the program or instruction is executed by a processor, it implements the method for detecting mechanical structure parameters according to the above embodiment.

[0091] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0093] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0094] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 steps for the functions specified in one block or multiple blocks.

[0095] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0096] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0097] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0098] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0099] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for detecting mechanical structure parameters, characterized in that, The mechanical structure includes multiple workpieces, and the method includes: Obtaining the positions of multiple feature points on the workpiece, where the number of the feature points is at least four and are respectively located on different outer cross-sections of the workpiece; Based on the relative position relationship between multiple pre-determined feature points and the axis of the workpiece, determining the axis position of the workpiece according to the positions of the multiple feature points; Comparing the axis positions of multiple workpieces to obtain the detection parameters of the mechanical structure, where the detection parameters include the coaxiality of multiple workpieces; Wherein, the determination of the relative position relationship between the multiple feature points and the axis of the workpiece includes: Obtaining the initial position data of local measurement points and the initial position data of the multiple feature points on the workpiece by means of laser scanning, where the local measurement points include inner cross-section measurement points and / or end-face measurement points; Performing axis fitting according to the initial position data of the local measurement points to obtain the initial position data of the axis of the workpiece; Determining the relative position relationship between the multiple feature points and the axis of the workpiece according to the initial position data of the axis and the initial position data of the multiple feature points.

2. The method according to claim 1, characterized in that The determining the relative position relationship between the multiple feature points and the axis of the workpiece according to the initial position data of the axis and the initial position data of the multiple feature points includes: Establishing a three-dimensional space coordinate system according to the initial position data of the multiple feature points; Determining the coordinates of the axis in the three-dimensional space coordinate system according to the initial position data of the axis to obtain the relative position relationship.

3. The method according to claim 1, wherein The obtaining the positions of multiple feature points on the workpiece includes: Obtaining the positions of multiple feature points on the workpiece by means of laser scanning.

4. The method according to claim 1, characterized in that The mechanical structure includes a pumping unit, the multiple workpieces include an oil cylinder and a concrete cylinder, the oil cylinder includes a piston rod, and the inner cross-section measurement points include the surface measurement points of the piston rod.

5. The method according to claim 1, characterized in that, The detection parameters further include the parallelism of multiple workpieces.

6. A processor, characterized in that, Configured to execute the method for detecting mechanical structure parameters according to any one of claims 1 to 5.

7. A device for detecting mechanical structure parameters, characterized in that, [[ID= ​ ​ 8. The device according to claim 7, characterized in that, ​ 9. A machine-readable storage medium, characterized in that, ​

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