An automatic alignment method for orthogonal hole systems for component mating

Abstract

This invention relates to an automatic alignment method for orthogonal hole systems used in component docking, belonging to the technical field of automatic alignment of orthogonal hole systems. A docking system is established, including components, compartments, side holes, top holes, calibration holes, a CCD camera, a laser displacement sensor, a laser rangefinder, a detection and fixing device, and a sensor bracket. The docking process is divided into three parts: component entering the compartment, component reaching the designated position, and two-hole attitude adjustment. The radial distance between the component and the compartment is adjusted by the laser displacement sensor, the axial distance between the component and the compartment is measured by the laser rangefinder, and the edge image of the assembly hole is acquired by the CCD camera. This invention uses a six-degree-of-freedom platform and sensors to achieve automated docking of components. The three holes of the compartment and component are automatically coaxially controlled with a deviation of no more than 0.1 mm, greatly saving manpower. The docking accuracy and efficiency are high, and the docking assembly process can be monitored in real time by sensors.

Description

Technical Field

[0001] This invention belongs to the field of automatic alignment technology of orthogonal hole systems, and relates to an automatic alignment method for orthogonal hole systems used for component docking. Background Technology

[0002] The modules and components are critical parts of the aircraft, with multiple radial holes machined into them, all orthogonal to each other. During the docking and assembly process, the rudder system requires three sets of coaxial rudder shaft holes in the modules and rocker arm holes in the components. The modules are made of composite materials, while the components are made of metal. Each module and component has three coaxial through holes in the left, right, and top directions, with a coaxiality of ≤0.1mm. The high docking precision requirements result in low docking efficiency, and the small gap between the modules and components makes them highly susceptible to collisions, making the docking and assembly process difficult to monitor.

[0003] There is currently no good solution. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an automatic alignment method for orthogonal hole systems for component docking. It uses a six-degree-of-freedom platform and sensors to achieve automated docking of components. The three holes of the compartment and the component are automatically controlled to achieve coaxiality with a deviation of no more than 0.1mm, which greatly saves manpower. The docking accuracy is high and the docking efficiency is high. The docking assembly process can be monitored in real time by sensors.

[0005] The solution of the present invention is:

[0006] An automatic alignment method for orthogonal hole systems used for component mating includes:

[0007] Establish a docking system; including components, sections, CCD camera, laser displacement sensor, laser rangefinder, detection and fixing device, sensor bracket; sections are equipped with section holes; components are equipped with component holes;

[0008] Define an orthogonal coordinate system xyz;

[0009] Move the component to the opening end of the access section;

[0010] The attitude of the component is adjusted; including adjusting the attitude of the component using a laser displacement sensor, adjusting the attitude of the component using a laser displacement sensor, and adjusting the attitude of the component using a laser displacement sensor.

[0011] The information of the hole wheel is extracted from the section hole and the component hole using a CCD camera; a coordinate system is established with the section hole as the origin; the center coordinates, intersection coordinates, and intersection line equations of the component hole and the section hole and the component hole are extracted by using discrete point coordinates and combining the circle series equations.

[0012] Alignment and attitude adjustment are performed on component holes and compartment holes, including no intersection processing, removal of assembly edges, and center alignment processing.

[0013] Align the center of the component's hole with the center of the compartment's hole to complete the final attitude adjustment.

[0014] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the docking system specifically includes:

[0015] The compartment is placed horizontally on the external base platform. The detection and fixing device is an arch structure, spanning and installed above the compartment. The sensor bracket is fixedly installed in the middle of the top crossbeam of the detection and fixing device. A compartment hole is provided at the center of the top of the compartment. Compartment holes and compartment holes are provided on both sides of the compartment. The compartment holes and compartment holes are coaxial and located on the same vertical plane. The sensor bracket is installed on the external base platform and located at the open end of the compartment. The sensor bracket is a U-shaped structure with the opening facing upward. Laser displacement sensors are installed on the inner sides of the two vertical sides of the sensor bracket. Laser displacement sensors are symmetrically installed on the upper surface of the horizontal side of the sensor bracket. Laser displacement sensors are installed at the bottom of the sensor bracket. Laser rangefinder sensors are installed at the bottom of the sensor bracket. CCD cameras are installed on the inner walls of the two vertical sides of the detection and fixing device. The CCD camera is aligned with the compartment hole and the CCD camera is aligned with the compartment hole. The CCD camera is installed in the middle of the top crossbeam of the detection and fixing device and is aligned with the compartment hole.

[0016] The component is mounted on an external six-degree-of-freedom platform; the component is placed horizontally and coaxially with the compartment, and the component is located outside the opening end of the compartment; a component hole is provided at the top center of the component; component holes and component openings are provided on both sides of the component respectively; the component holes and component openings are coaxial, and the component holes, component openings and component openings are located in the same vertical plane.

[0017] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, in the alignment coordinate system xyz, the z-axis is vertically upward; the y-axis is the axial direction of the compartment; and the x-axis is determined by the right-hand rule.

[0018] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the specific process of moving the component to the opening end of the entry compartment is as follows:

[0019] The component is fed by a six-degree-of-freedom platform, and a laser rangefinder determines whether the component will enter the compartment. When the target value is reached, the six-degree-of-freedom platform stops feeding.

[0020] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the process of adjusting the attitude of the components using a laser displacement sensor is as follows:

[0021] The distances z1 and z2 between the component and the laser displacement sensor are measured in the z direction. The component is then rotated clockwise or counterclockwise around the y-axis using a six-degree-of-freedom platform to make z1 and z2 equal. The component is then moved up and down along the z-axis using the six-degree-of-freedom platform to make z1 and z2 reach the target value z0. After adjustment, the component's rotation along the y-axis and translation along the z-axis are restricted, while the other degrees of freedom are not restricted.

[0022] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the process of adjusting the attitude of the components using a laser displacement sensor is as follows:

[0023] The distances x1 and x2 between the component and the side are measured using a side laser displacement sensor. The difference Δx = lx - lz - x1 is calculated from x1, where lz is the width of the component in the x-direction. Δx is compared with x2 to determine if the component has a rotational deviation along the z-axis. If Δx and x2 are not equal, the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the z-axis. If Δx and x2 are equal, the rotation stops. Then, the component is translated along the x-axis until the target value x0 is reached. After adjustment, the component's rotation along the z-axis and translation along the x-axis are limited; the rotation along the x-axis and translation along the y-axis are not limited.

[0024] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the process of adjusting the attitude of the components using a laser displacement sensor is as follows:

[0025] The distance z1 between the component and the laser displacement sensor is measured. If it deviates from the target value z0, the component is rotated clockwise or counterclockwise along the x-axis by a six-degree-of-freedom platform until the target value is reached.

[0026] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the specific process for handling non-intersection points is as follows:

[0027] When the component has not yet moved to the designated position, the component hole and the section hole and the section hole will intersect. The laser range sensor is used to determine whether the component is in position. Since the installation and fixing error of each part is small, and the position and attitude detection is completed before docking, the position of the two holes can be basically determined by the range sensor, ensuring that the two holes do not intersect at this time.

[0028] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the process of removing the combined edge is as follows:

[0029] When the component does not rotate around any axis, the component hole is circular; when the component rotates around the x-axis, the component hole is still circular; when the component rotates around the y-axis, another edge appears on the top and bottom of the sampled component hole; when the component rotates around the z-axis, another edge appears on the left and right of the sampled component hole; therefore, combined edges only appear around the y and z axes, and this step removes the rotation of the y and z axes.

[0030] When the CCD camera captures the component hole outline as the combined edge, the initial image is acquired. Based on the quadrant where the intersection point is located, it is determined whether the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis. When the intersection point is on the z-axis, the y-axis rotation stops. Then, based on whether the arc segment is on the left or right, the component rotates clockwise or counterclockwise around the z-axis. Finally, the image captured by the camera only shows the circular shapes of the component hole and the compartment hole, without other edges. After removing the redundant arc segments of the component hole and the compartment hole, the information of the top component hole is acquired by the top CCD camera. Using the same method, the component rotates clockwise or counterclockwise around the absolute coordinate system z-axis, removing the redundant arcs of the top component hole. At this point, the rotation of the component around the x, y, and z axes has been determined. In addition, whether the component hole outline is circular further confirms whether the rotational motion has been completed.

[0031] In the above-mentioned automatic alignment method for orthogonal hole systems used for component docking, the specific process of center alignment is as follows:

[0032] Calculate the centers of the component hole and the compartment hole, as well as their relative distances in the y and z directions; then, give the displacement commands of the six-degree-of-freedom platform in the y and z directions; next, based on the components of the centers of the top component hole and the compartment hole on each coordinate axis, give the displacement command of the six-degree-of-freedom platform in the x direction; finally, use the coordinate information of the center of the component hole and the compartment hole to perform calibration and complete the center alignment.

[0033] The advantages of this invention compared to the prior art are:

[0034] (1) This invention uses a six-degree-of-freedom platform and sensors to achieve automated docking of components. The three holes of the compartment and the component are automatically coaxially controlled with a deviation of no more than 0.1mm, which greatly saves manpower. The docking accuracy is high and the docking efficiency is high. The docking and assembly process can be monitored in real time by sensors.

[0035] (2) The present invention establishes a docking system, including components, compartments, side holes, top holes, calibration holes, CCD cameras, laser displacement sensors, laser rangefinders, detection and fixing devices, and sensor brackets; through the docking system, the adjustment work of three parts is completed: the component enters the compartment, the component reaches the designated position, and the attitude adjustment of the two holes is completed;

[0036] (3) This invention adjusts the radial distance between the component and the compartment using a laser displacement sensor, measures the axial distance between the component and the compartment using a laser rangefinder, acquires images of the assembly hole edges using a CCD camera, and uses a six-degree-of-freedom platform and sensors to achieve automated docking of the component. The three holes of the compartment and the component are automatically controlled to achieve coaxiality. It can be widely used in high-precision docking processes of various compartment components. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the docking system of the present invention.

[0038] Figure 2 This is a schematic diagram of the docking process of the present invention.

[0039] Figure 3 This is a schematic diagram of the bottom displacement adjustment process of the component.

[0040] Figure 4 This is a schematic diagram of the component's side displacement adjustment process.

[0041] Figure 5 This is a schematic diagram of the component's top displacement adjustment process.

[0042] Figure 6 This is a schematic diagram summarizing the outline information of the hole.

[0043] Figure 7 This is a schematic diagram of the movement process of the two holes.

[0044] Figure 8 This is a schematic diagram of the edge of the component side hole assembly.

[0045] Figure 9 This is a schematic diagram of the process of removing the combined edge of the side hole.

[0046] Figure 10 This is a schematic diagram of the process of centering the circle. Detailed Implementation

[0047] The present invention will be further described below with reference to the embodiments.

[0048] This invention employs an automatic alignment method for orthogonal hole systems used in component docking. Based on real-time automatic adjustment of the docking assembly fixture for the rudder system, the docking system includes components, sections, side holes, top holes, calibration holes, a CCD camera, laser displacement sensors, laser rangefinders, a detection and fixing device, and sensor brackets. The components are fixed on a six-degree-of-freedom platform. The sections, detection and fixing device, and bottom and side sensor brackets are all fixed on a base platform. The top sensor bracket is fixed to the top of the detection and fixing device. The CCD camera is fixed on both sides and the top of the detection and fixing device. The laser displacement sensors are respectively fixed on the sensor brackets. Both the laser displacement sensor and the laser rangefinder are fixed to the top of the detection and fixing device via sensor brackets.

[0049] The automatic alignment method for orthogonal hole systems used for component mating includes the following steps:

[0050] Establish a docking system; such as Figure 1 As shown, the system includes component 1, section 2, CCD cameras 31-33, laser displacement sensors 41-45, laser rangefinder sensor 5, detection and fixing device 6, and sensor brackets 7-8; section 2 is provided with section holes 21-23; component 1 is provided with component holes 11-13. The docking system is specifically as follows:

[0051] Section 2 is placed horizontally on the external base platform; the detection fixing device 6 is an arch structure, spanning and installed above section 2; the sensor bracket 8 is fixedly installed in the middle of the top crossbeam of the detection fixing device 6; a section hole 22 is provided at the center of the top of section 2; section holes 21 and 23 are respectively provided on both sides of section 2; section holes 21 and 23 are coaxial, and section holes 22, 21, and 23 are located on the same vertical plane; the sensor bracket 7 is installed on the external base platform and located at the open end of section 2; the sensor bracket 7 is a U-shaped structure with the opening facing upwards; laser displacement sensor... Sensors 41 and 44 are respectively installed on the inner sides of the vertical sides of the sensor bracket 72; laser displacement sensors 42 and 43 are symmetrically installed on the upper surface of the horizontal side of the sensor bracket 7; laser displacement sensor 45 is installed at the bottom of the sensor bracket 8; laser rangefinder 5 is installed at the bottom of the sensor bracket 8; CCD camera 31 and CCD camera 33 are respectively installed on the inner side walls of the two vertical sides of the detection fixing device 6; and CCD camera 31 is aligned with the compartment hole 21, and CCD camera 33 is aligned with the compartment hole 23; CCD camera 32 is installed in the middle of the top crossbeam of the detection fixing device 6, and CCD camera 32 is aligned with the compartment hole 22.

[0052] Component 1 is installed on an external six-degree-of-freedom platform; Component 1 is placed horizontally and coaxially with section 2, and Component 1 is located outside the opening end of section 2; Component hole 12 is provided at the top center of Component 1; Component hole 11 and Component hole 13 are provided on both sides of Component 1 respectively; Component hole 11 and Component hole 13 are coaxial, and Component hole 11, Component hole 12 and Component hole 13 are located in the same vertical plane.

[0053] Define an orthogonal coordinate system xyz; in the orthogonal coordinate system xyz, the z-axis points vertically upward; the y-axis is the axial direction of section 2; the x-axis is determined by the right-hand rule.

[0054] Move component 1 to the opening of access section 2; the specific process of moving component 1 to the opening of access section 2 is as follows:

[0055] Component 1 is fed by a six-degree-of-freedom platform, and the laser rangefinder 5 determines whether component 1 will enter section 2. When the target value is reached, the six-degree-of-freedom platform stops feeding.

[0056] The attitude of component 1 is adjusted, including adjusting the attitude of component 1 through laser displacement sensors 42 and 43, adjusting the attitude of component 1 through laser displacement sensors 41 and 44, and adjusting the attitude of component 1 through laser displacement sensor 45.

[0057] The process of adjusting the attitude of component 1 using laser displacement sensors 42 and 43 is as follows:

[0058] The distances z1 and z2 in the z-direction between component 1 and the laser displacement sensors 42 and 43 are measured respectively. The six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis to make z1 and z2 equal. Then, the six-degree-of-freedom platform moves component 1 up and down along the z-axis to make z1 and z2 reach the target value z0. After adjustment, the rotation of component 1 along the y-axis and the translation along the z-axis are restricted, while the other degrees of freedom are not restricted.

[0059] The process of adjusting the attitude of component 1 using laser displacement sensors 41 and 44 is as follows:

[0060] The distances x1 and x2 between component 1 and the laser displacement sensors 44 and 41 are measured using side laser displacement sensors 44 and 41. The difference Δx = lx - lz - x1 is calculated using x1, where lz is the width of the component in the x-direction. Δx is compared with x2 to determine whether component 1 has a rotational deviation along the z-axis. When Δx and x2 are not equal, the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the z-axis. If Δx and x2 are equal, the rotation is stopped. Then, component 1 is translated along the x-axis until the target value x0 is reached. After adjustment, the rotation of component 1 along the z-axis and the translation along the x-axis are limited; the rotation along the x-axis and the translation along the y-axis are not limited.

[0061] The process of adjusting the attitude of component 1 using laser displacement sensor 45 is as follows:

[0062] The distance z1 between component 1 and the laser displacement sensor 45 is measured. If it deviates from the target value z0, the six-degree-of-freedom platform is used to rotate it clockwise or counterclockwise along the x-axis until the target value is reached.

[0063] The information of the boreholes 21-23 and 11-13 of the components is extracted using CCD cameras 31-33. A coordinate system is established with the boreholes 21-23 of the components as the origin. The center coordinates, intersection coordinates, and intersection line equations of the components 11, 12, and 13 with the boreholes 21, 22, and 23 of the components are extracted using discrete point coordinates and a series of circle equations.

[0064] The component holes 11-13 and the compartment holes 21-23 are aligned and adjusted, including the elimination of intersection points, removal of assembly edges, and center alignment.

[0065] The specific process for handling no-intersection points is as follows:

[0066] When component 1 has not yet moved to the designated position, component holes 11, 12 and 13 will intersect with section holes 21, 22 and 23 respectively. The laser range sensor 5 determines whether the position is in place. Since the installation and fixing error of each part is small, and the position and attitude detection before docking is completed, the position of the two holes can be basically determined by the range sensor, ensuring that the two holes do not intersect at this time.

[0067] The process of decomposing edges is as follows:

[0068] When component 1 does not rotate around any axis, component hole 11 is circular; when component 1 rotates around the x-axis, component hole 11 remains circular; when component 1 rotates around the y-axis, another edge appears on the top and bottom of the sampled component hole 11; when component 1 rotates around the z-axis, another edge appears on the left and right of the sampled component hole 11; therefore, combined edges only appear around the y and z axes, and this step removes the rotation of the y and z axes.

[0069] When the CCD camera 31 captures the outline of component hole 11 as the combined edge, the initial image is acquired. Based on the quadrant where the intersection point is located, it is determined whether the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis. When the intersection point is on the z-axis, the rotation around the y-axis stops. Then, based on whether the arc segment is on the left or right, component 1 is rotated clockwise or counterclockwise around the z-axis. Finally, the image captured by the camera only shows the circles of component hole 11 and compartment hole 21, without other edges. After removing the redundant arc segments of component hole 11 and compartment hole 21, the information of component hole 12 at the top of component 1 is acquired by the top CCD camera 32. Using the same method, the component is rotated clockwise or counterclockwise around the absolute coordinate system z-axis to remove the redundant arc of component hole 12 at the top. At this point, the rotation of component 1 around the x, y, and z axes has been determined. In addition, whether the outline of component hole 13 is circular is used to further determine whether the rotational motion has been completed.

[0070] The specific process of center alignment is as follows:

[0071] Calculate the centers of component hole 11 and compartment hole 21, and their relative distances in the y and z directions; then, give the displacement commands of the six-degree-of-freedom platform in the y and z directions; next, based on the components of the centers of the top component hole 12 and compartment hole 22 on each coordinate axis, give the displacement command of the six-degree-of-freedom platform in the x direction; finally, use the coordinate information of the center of component hole 13 and compartment hole 23 for calibration to complete the center alignment.

[0072] Align the center of component holes 11-13 of component 1 with the center of section holes 21-23 of section 2 to complete the final attitude adjustment.

[0073] Example

[0074] Figure 1 This is one embodiment of the present invention. The present invention is based on real-time automatic adjustment of the docking assembly fixture for the rudder system. The docking system includes component 1, section 2, side holes 11, 21, top holes 12, 22, calibration holes 13, 23, CCD cameras 31, 32, 33, laser displacement sensors 41, 42, 43, 44, 45, laser rangefinder 5, detection and fixing device 6, and sensor brackets 7, 8. Component 1 is fixed on a 6-DOF platform. Section 2, detection and fixing device 6, and sensor bracket 7 are all fixed on a base platform. Sensor bracket 8 is fixed on the top of detection and fixing device 6. CCD cameras 31, 32, and 33 are fixed on both sides and the top of detection and fixing device 6. Laser displacement sensors 41, 42, 43, and 44 are respectively fixed on sensor bracket 7. Laser displacement sensor 45 and laser rangefinder 5 are both fixed on the top of detection and fixing device 6 via sensor bracket 8.

[0075] The docking process includes two parts: pre-docking preparation and docking itself, such as... Figure 2 As shown. Before docking, the coordinate system of component 1 needs to be calibrated to correct rotational errors during assembly. Then, component 1 is fed by a six-degree-of-freedom platform, and the laser rangefinder 5 determines whether the component will enter compartment 2. When the target value is reached, the six-degree-of-freedom platform stops feeding and begins position and attitude detection to initially ensure that compartment 2 and component 1 will not collide. The docking process is divided into three stages: component 1 entering compartment 2, component 1 reaching the designated position, and two-hole attitude adjustment. When component 1 first enters compartment 2, collision prevention detection and auxiliary position and attitude detection are mainly used to prevent collisions. The entry distance detection ensures that component 1 reaches the designated position. The two-hole attitude adjustment is achieved through coaxial alignment detection.

[0076] The adjustment process is divided into three steps: displacement adjustment using laser displacement sensors 42 and 43, displacement adjustment using side laser displacement sensors 41 and 44, and displacement adjustment using top laser displacement sensor 45. Based on the absolute coordinate system of the six-degree-of-freedom platform, the components are driven to perform x, y, and z translations and rotations. The specific operations are as follows:

[0077] The bottom laser displacement sensors 42 and 43 measure the displacement adjustment of the components, i.e., rotation along the y-axis and translation along the z-axis, as shown below. Figure 3 As shown; this adjustment process is carried out through Figure 3The laser displacement sensors 43 and 42 shown measure the distances z1 and z2 between component 1 and the sensor. The adjustment process consists of two steps: first, the component 1 is rotated clockwise or counterclockwise around the y-axis using a six-degree-of-freedom platform until z1 and z2 are equal; then, the component 1 is moved up and down along the z-axis using the same platform until z1 and z2 reach the target value z0. After this adjustment, the rotation of component 1 along the y-axis and the translation along the z-axis are restricted, while the other degrees of freedom remain unrestricted.

[0078] The side laser displacement sensors 44 and 41 measure the displacement of component 1, i.e., rotation along the z-axis and translation along the x-axis, as shown below. Figure 4 As shown, the distances x1 and x2 between component 1 and the laser displacement sensors 44 and 41 are measured using side laser displacement sensors. The adjustment process consists of two steps. First, the difference between the two sides, Δx = lx - lz - x1, is calculated using x1, where lz is the width of the component in the x-direction. Δx is then compared with x2 to determine if component 1 has a rotational deviation along the z-axis. If Δx and x2 are not equal, the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the z-axis. If Δx and x2 are equal, the rotation is stopped. Then, component 1 is translated along the x-axis until the target value x0 is reached. After this adjustment, the rotation of component 1 along the z-axis and the translation along the x-axis are limited; currently, only the rotation along the x-axis and the translation along the y-axis remain undefined.

[0079] The top laser displacement sensor 45 measures the displacement of the component, i.e., the rotation of the x-axis, such as... Figure 5 As shown; the distance z1 between component 1 and the laser displacement sensor 45 is measured. If it deviates from the target value z0, the six-degree-of-freedom platform is used to rotate it clockwise or counterclockwise along the x-axis until the target value is reached. After this attitude adjustment process, the values ​​measured by laser displacement sensors 41, 42, 43 and 44 may change, and the above two steps need to be repeated. Finally, the values ​​of all five laser displacement sensors are within the set values. After the above three steps of adjustment, only the translation around the y-axis among the six degrees of freedom is not adjusted. In the subsequent process, the component still needs to be fed along the y-axis, so it is ignored.

[0080] After hole contour recognition, its discrete point information can be extracted. Since the relative positions of compartment 2 and CCD cameras 31, 32, and 33 are fixed and do not move during the entire attitude adjustment process, a coordinate system is established with the compartment hole as the center during the hole contour information extraction process. When the component holes move subsequently, it is only necessary to measure their relative position to the compartment hole and then issue the corresponding displacement command. By combining the discrete point coordinates with the circle equations, information such as... Figure 6 The information shown includes the center coordinates, intersection coordinates, and equations of the intersection lines of component holes 11, 12, and 13 with section holes 21, 22, and 23, respectively.

[0081] Centering and attitude adjustment consists of three processes: eliminating intersection points, removing combined edges, and centering the circle. The contour information uses a relative coordinate system; after calculating the displacement command, the six-degree-of-freedom platform motion is based on its absolute coordinate system. During operation, ensuring no intersection points is achieved first, such as... Figure 7 As shown, before component 1 has moved to the designated position, component holes 11, 12, and 13 will intersect with compartment holes 21, 22, and 23, respectively. During this process, the laser rangefinder 5 is mainly used to determine whether the components are in position. Since the installation and fixing errors of each part are small, and the position and attitude detection before docking has been completed, the position of the two holes can be basically determined by rangefinding, ensuring that the two holes do not intersect at this time. If there is a deviation, the six-degree-of-freedom platform displacement command information is given based on the intersection coordinates, causing component 1 to move until the component holes are completely within the compartment holes.

[0082] Further steps require edge reassembly. Component 1 may be tilted within section 2, causing the component aperture captured by the CCD camera to have a combination of circular and arc edges. In this case, a certain rotation command needs to be given to the six-degree-of-freedom platform to make the acquired contour information of component 1 circular. Taking the side hole 11 in component 1 as an example... Figure 8 As shown, when component 1 does not rotate around any axis, the component side hole 11 is circular; when component 1 rotates around the x-axis, the component side hole 11 remains circular; when component 1 rotates around the y-axis, another edge appears at the top and bottom of the sampled component side hole 11; when component 1 rotates around the z-axis, another edge appears on the left and right sides of the sampled component side hole 11. Therefore, it can be seen that combined edges only appear around the y and z axes, and this step can eliminate the rotation around the y and z axes. Figure 9 For the process of removing the combined edges of side holes 11 and 21, when the CCD camera 31 captures the outline of component hole 11 as a combined edge, an initial image is first acquired. Based on the quadrant where the intersection point is located, it is determined whether the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis. When the intersection point is on the z-axis, the y-axis rotation stops. Then, based on whether the arc segment is on the left or right, component 1 is rotated clockwise or counterclockwise around the z-axis. The final image captured by the camera, as shown in step 2, only shows the circles of component holes 11 and 21, without other edges. After removing the redundant arc segments of side holes 11 and 21, the information of the top hole 12 of component 1 is acquired by the top CCD camera 32. Using the same method, the component is rotated clockwise or counterclockwise around the absolute coordinate system z-axis to remove the redundant arc of the top component hole 12. At this point, the rotation of component 1 around the x, y, and z axes has been determined. Furthermore, whether the outline of the third side hole 13 is circular can be used to further determine whether the rotational motion has been completed.

[0083] Further center alignment is then performed. Center alignment refers to aligning the center of the hole in component 1 with the center of the hole in section 2 by translating component 1 in the x, y, and z directions, thus achieving final attitude adjustment. The overall approach uses a method of aligning two holes and calibrating a third hole. Figure 10As shown, firstly, the centers of side holes 11 and 21 and their relative distances in y and z are calculated, and then the displacement commands of the six-degree-of-freedom platform in the y and z directions are given; then, based on the components of the centers of top holes 12 and 22 on each coordinate axis, the displacement command of the six-degree-of-freedom platform in the x direction is given; finally, calibration is performed using the coordinate information of the centers of calibration holes 13 and 23 to complete the center alignment.

[0084] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. An automatic alignment method for orthogonal hole systems used in component docking, characterized in that: include: Establish a docking system; including components (1), compartment (2), CCD cameras (31)-(33), laser displacement sensors (41)-(45), laser rangefinders (5), detection and fixing devices (6), and sensor brackets (7)-(8); compartment (2) is provided with compartment holes (21)-(23); component (1) is provided with component holes (11)-(13); Define an orthogonal coordinate system xyz; in the orthogonal coordinate system xyz, the z-axis is vertically upward; the y-axis is the axial direction of the compartment (2); the x-axis is determined by the right-hand rule; Move component (1) to the opening end of the access section (2); The attitude of component (1) is adjusted; including adjusting the attitude of component (1) by means of laser displacement sensors (42) and (43), adjusting the attitude of component (1) by means of laser displacement sensors (41) and (44), and adjusting the attitude of component (1) by means of laser displacement sensor (45); The information of the hole wheel of the compartment hole (21)-(23) and component hole (11)-(13) is extracted by CCD camera (31)-(33); a coordinate system is established with the compartment hole (21)-(23) as the origin; by using the discrete point coordinates and the circle series equations, the center coordinates, intersection coordinates and intersection line equations of the component holes (11), (12) and (13) with the compartment holes (21), (22) and (23) respectively are extracted. The component holes (11)-(13) and the compartment holes (21)-(23) are aligned and adjusted, including no intersection processing, removal of assembly edges processing and center alignment processing; Make the center of the component hole (11)-(13) of component (1) coincide with the center of the section hole (21)-(23) of section (2) respectively, and complete the final attitude adjustment; The docking system is specifically as follows: The compartment (2) is placed horizontally on the external base platform; the detection fixing device (6) is an arch structure, spanning and installed above the compartment (2); the sensor bracket (8) is fixedly installed in the middle of the top crossbeam of the detection fixing device (6); a compartment hole (22) is provided at the top center of the compartment (2); compartment holes (21) and (23) are provided on both sides of the compartment (2); the compartment holes (21) and (23) are coaxial, and the compartment holes (22), (21) and (23) are located on the same vertical plane; the sensor bracket (7) is installed on the external base platform and is located at the open end of the compartment (2); the sensor bracket (7) is a U-shaped structure with the opening facing upward; laser displacement sensor (41) and (44) are respectively installed on the inner sides of the two vertical sides of the sensor bracket (7); laser displacement sensors (42) and (43) are symmetrically installed on the upper surface of the horizontal side of the sensor bracket (7); laser displacement sensor (45) is installed at the bottom of the sensor bracket (8); laser rangefinder (5) is installed at the bottom of the sensor bracket (8); CCD camera (31) and CCD camera (33) are respectively installed on the inner sidewalls of the two vertical sides of the detection fixing device (6); and CCD camera (31) is aligned with the section hole (21), and CCD camera (33) is aligned with the section hole (23); CCD camera (32) is installed in the middle of the top crossbeam of the detection fixing device (6), and CCD camera (32) is aligned with the section hole (22); Component (1) is installed on an external six-degree-of-freedom platform; Component (1) is placed horizontally and coaxially with the compartment (2), and Component (1) is located outside the opening end of the compartment (2); Component hole (12) is provided at the top center of Component (1); Component hole (11) and Component hole (13) are provided on both sides of Component (1); Component hole (11) and Component hole (13) are coaxial, and Component hole (11), Component hole (12) and Component hole (13) are located in the same vertical plane; The specific process of moving component (1) to the opening end of the entry section (2) is as follows: The component (1) is fed by a six-degree-of-freedom platform, and the laser range sensor (5) determines whether the component (1) will enter the compartment (2). When the target value is reached, the six-degree-of-freedom platform stops feeding. The specific process for handling no-intersection points is as follows: When component (1) has not yet moved to the designated position, there will be intersections between component holes (11), (12) and (13) and section holes (21), (22) and (23) respectively. The laser range sensor (5) is used to determine whether the position is in place. Since the installation and fixing error of each part is small, and the position and attitude detection before docking is completed, the position of the two holes can be basically determined by the range sensor, ensuring that the two holes do not intersect at this time. The process of decomposing edges is as follows: When component (1) does not rotate around any axis, component hole (11) is circular; when component (1) rotates around the x-axis, component hole (11) is still circular; when component (1) rotates around the y-axis, another edge appears on the top and bottom of the sampled component hole (11); when component (1) rotates around the z-axis, another edge appears on the left and right of the sampled component hole (11); therefore, only around the y and z axes will a combined edge appear, and this step removes the rotation of the y and z axes. When the CCD camera (31) acquires the outline of the component hole (11) as a combined edge; the initial image is acquired, and the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the y-axis according to the quadrant where the intersection point is located; when the intersection point is on the z-axis, the rotation around the y-axis is stopped; then, depending on whether the arc segment is on the left or right, the component (1) is rotated clockwise or counterclockwise around the z-axis. Finally, the image acquired by the camera only shows the circles of the component hole (11) and the compartment hole (21), without any other edges; after removing the redundant arc segments of the component hole (11) and the compartment hole (21), the information of the top component hole (12) of the component (1) is acquired by the top CCD camera (32). Using the same method, the component is rotated clockwise or counterclockwise around the absolute coordinate system z-axis to remove the redundant arc of the top component hole (12); at this point, the rotation of the component (1) around the x, y and z axes has been determined; in addition, whether the outline of the component hole (13) is circular is further used to determine whether the rotational motion has been completed. The process of adjusting the attitude of component (1) using laser displacement sensors (42) and (43) is as follows: The distances z1 and z2 in the z direction between the component (1) and the laser displacement sensors (42) and (43) are measured respectively. The component (1) is rotated clockwise or counterclockwise around the y-axis by a six-degree-of-freedom platform to make z1 and z2 equal. Then, the component (1) is moved up and down along the z-axis by a six-degree-of-freedom platform to make z1 and z2 reach the target value z0. After adjustment, the rotation of the component (1) on the y-axis and the translation on the z-axis are restricted, while the other degrees of freedom are not restricted. The process of adjusting the attitude of component (1) using laser displacement sensors (41) and (44) is as follows: The distances x1 and x2 between the component (1) and the laser displacement sensors (44) and (41) are measured by the side. The difference Δx = lx - lz - x1 is calculated by x1. Where lz is the width of the component in the x direction. Δx is compared with x2 to determine whether the component (1) has a rotational deviation along the z axis. When Δx and x2 are not equal, the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the z axis. If Δx and x2 are equal, the rotation is stopped. Then the component (1) is translated along the x axis until the target value x0 is reached. After adjustment, the rotation of the component (1) along the z axis and the translation along the x axis are limited. The rotation along the x axis and the translation along the y axis are not limited. The process of adjusting the attitude of component (1) using laser displacement sensor (45) is as follows: The distance z1 between component (1) and the laser displacement sensor (45) is measured. If it deviates from the target value z0, it is rotated clockwise or counterclockwise along the x-axis by a six-degree-of-freedom platform until the target value is reached.

2. The automatic alignment method for orthogonal hole systems used for component docking according to claim 1, characterized in that: The specific process of center alignment is as follows: Calculate the center of the component hole (11) and the compartment hole (21) and the relative distance between them in y and z; then give the displacement command of the six-degree-of-freedom platform in the y and z directions; then give the displacement command of the six-degree-of-freedom platform in the x direction according to the components of the center of the top component hole (12) and the compartment hole (22) on each coordinate axis; finally, use the center coordinate information of the component hole (13) and the compartment hole (23) to perform calibration and complete the center alignment.

Images