A gap stacking assembly device and assembly method for large-scale high-speed rotary equipment based on digital twin

Abstract

A gap stacking assembly device and assembly method for large-scale high-speed rotary equipment based on digital twins, relating to the field of engine assembly measurement technology. The invention solves the problem of unbalanced rotation of rotary parts caused by large assembly errors when multi-stage rotary parts are gap stacked, which in turn causes noise and vibration in the operation of large-scale high-speed rotary equipment, and directly affects the performance and service life of the whole machine. The present invention includes an assembly device entity, a data acquisition device and a host computer; the assembly device entity establishes data communication with the host computer through the data acquisition device, and the host computer establishes a virtual assembly model; according to the assembly device, an assembly method is obtained, and the optimal coaxiality of the virtual assembly model and the gap stacking of multi-stage rotary parts is obtained according to the assembly method, and the assembly process is controlled by using the virtual assembly model and the optimal coaxiality of the gap stacking of multi-stage rotary parts. The present invention is suitable for controlling the assembly process of rotary parts.

Description

Technical Field

[0001] The invention relates to the technical field of engine assembly measurement. Background Art

[0002] For large-scale high-speed rotating equipment represented by aircraft engines and gas turbines, the assembly process is the last link in the production and manufacturing process, and it is also an extremely important link. The assembly quality directly affects the quality and performance of the entire machine.

[0003] Taking aircraft engines as an example, they have the characteristics of many levels of rotating parts and complex assembly process. Dozens of rotating parts need to be installed simultaneously on an axis less than one meter long, and multiple rotating parts are stacked with gaps. Assembly errors will be rapidly amplified during the installation process of multi-stage rotating parts, causing unbalanced rotation of the rotating parts, generating noise and vibration, and directly affecting the performance and service life of the entire machine.

[0004] The current rotating parts of aircraft engines rely on manual debugging during the assembly process, and the separation of the assembly process and the data analysis process makes the overall assembly efficiency low. At the same time, it requires multiple operators to work together, which is labor-intensive. Summary of the invention

[0005] The present invention solves the problem that when multi-stage rotating parts are stacked at a gap, large assembly errors cause unbalanced rotation of rotating parts, which in turn causes large-scale high-speed rotating equipment to generate noise and vibration during operation and directly affects the performance and service life of the entire machine.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A large-scale high-speed rotary equipment gap stacking assembly device based on digital twin, the assembly device comprising an assembly device entity, a data acquisition device and a host computer;

[0008] The assembly device entity establishes data communication with the host computer through the data acquisition device, and the host computer establishes a virtual assembly model;

[0009] The assembly device entity includes an air-floating rotary spindle, a vertical air-floating guide rail, a centering and tilting adjustment workbench, an upper left connecting piece, a lower left connecting piece, an upper left transverse measuring rod, a lower left transverse measuring rod and an inductive sensor;

[0010] The centering and tilting workbench is stacked on the air-floating rotary main shaft, and the centering and tilting workbench is coaxial with the air-floating rotary main shaft. The vertical air-floating guide rail is arranged on the side of the air-floating rotary main shaft. The upper left connecting piece and the lower left connecting piece are sequentially mounted on the vertical air-floating guide rail from top to bottom. The upper left transverse measuring rod is nested on the upper left connecting piece, and the lower left transverse measuring rod is nested on the lower left connecting piece.

[0011] The inductive sensor includes an axial inductive sensor and a radial inductive sensor. The axial inductive sensor is fixed on the upper left transverse measuring rod and is used to detect the axial surface data of the rotating component. The radial inductive sensor is fixed on the lower left transverse measuring rod and is used to detect the radial surface data of the rotating component.

[0012] The data acquisition device drives the inductive sensor to collect data and sends it to the host computer. The host computer integrates the collected data into the virtual assembly model, and analyzes and calculates the collected data to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts.

[0013] Furthermore, in a preferred embodiment, the upper left connecting member and the lower left connecting member slide vertically on the vertical air-floating guide rail.

[0014] Furthermore, in a preferred embodiment, the upper left transverse measuring rod moves horizontally along the upper left connecting member.

[0015] Furthermore, in a preferred embodiment, the above-mentioned lower left transverse measuring rod moves horizontally along the lower left connecting member.

[0016] Furthermore, in a preferred embodiment, the assembly device further comprises a granite base, the air-floating rotary spindle is embedded in the center of the granite base, and the vertical air-floating guide rail is fixedly mounted on the granite base.

[0017] Furthermore, there is a preferred embodiment, the above-mentioned assembly device also includes AR glasses, and the AR glasses are connected to a host computer, and the data information received and calculated by the host computer are displayed on the AR glasses for real-time display of the data information.

[0018] A method for gap stacking assembly of large-scale high-speed rotary equipment based on digital twin, the method is implemented based on any one of the above-mentioned large-scale high-speed rotary equipment gap stacking assembly devices based on digital twin, and the method is specifically:

[0019] S1. Wear AR glasses and use virtual-real registration technology to establish data communication between the assembly device entity and the host computer through the data acquisition device, and the host computer establishes a virtual assembly model;

[0020] S2. Place the rotating part to be measured on the centering and tilting workbench and fix it;

[0021] S3, the air-floating rotary spindle rotates, thereby driving the rotating component to be measured to rotate at a uniform speed;

[0022] S4, the data acquisition device drives the radial inductive sensor to sample and measure at equal intervals on the radial installation reference plane of the rotating component to be measured, obtains the radial reference plane eccentricity of the rotating component, and sends the radial reference plane eccentricity to the virtual assembly model, and displays the data information on the AR glasses at the same time;

[0023] S5. The data acquisition device drives the axial inductive sensor to perform sampling measurements at equal intervals on the axial installation reference plane of the rotating component to be measured, obtains the eccentricity of the axial reference plane of the rotating component, and sends the eccentricity of the axial reference plane to the virtual assembly model, while displaying the data information on the AR glasses;

[0024] S6. The virtual assembly model sets a centering and tilting adjustment table according to the size and direction of the radial reference surface eccentricity and the axial reference surface eccentricity of the rotating component, so that the rotating component is concentric with the centering and tilting adjustment table;

[0025] S7, the data acquisition device drives the radial inductive sensor to sample and measure at equal intervals on the radial installation measurement surface of the rotating component to obtain the concentricity of the rotating component, and sends the concentricity to the virtual assembly model; the data acquisition device drives the axial inductive sensor to sample and measure at equal intervals on the axial installation measurement surface of the rotating component to obtain the verticality of the rotating component, and sends the verticality to the virtual assembly model;

[0026] S8, the data acquisition device drives the inductive sensor to measure all the rotating parts required for assembly, obtains the concentricity and verticality of the multi-level rotating parts, and sends them to the virtual assembly model, while displaying the data information on the AR glasses;

[0027] S9, the virtual assembly model integrates the collected data information, and the host computer analyzes and calculates the cumulative eccentricity error caused by the gap stacking of the multi-stage rotating parts according to the concentricity and verticality of the multi-stage rotating parts;

[0028] S10. The host computer calculates the optimal coaxiality of the multi-stage rotating component gap stacking according to the accumulated eccentricity error generated by the multi-stage rotating component gap stacking, and displays the optimal coaxiality of the multi-stage rotating component gap stacking on the AR glasses;

[0029] S11. The assembly process is controlled by using the optimal coaxiality of the gap stack of multi-level rotating parts displayed on the virtual assembly model and AR glasses.

[0030] Furthermore, in another preferred embodiment, the cumulative eccentricity error caused by the gap stacking of the multi-stage rotating components in the above step S9 is specifically:

[0031]

[0032] Rotorri is the transformation matrix between the joint surfaces of the two-stage rotating parts, Rotor Zi is the eccentricity of the ideal center of the rotating component i, Rotor clearancei is the translation transformation matrix of the clearance eccentricity of the reference surface of the rotating component i, Rotor dzi is the eccentric translation transformation matrix caused by the machining error of the reference surface of the rotating component i, Rotor orientationi is the rotation transformation matrix from the reference plane of the rotating component i to the rotation center of the assembly surface, Mo Xi is the rotation matrix of the reference plane of the i-th level rotating component around the X axis, Mo Yi Mo is the rotation matrix of the reference plane of the i-th level rotating component around the Y axis; Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotary component, Mo Zj-1 is the rotation matrix of the reference plane of the j-1th level rotating component around the Z axis, Mo Xj-1 is the rotation matrix of the j-1st level rotating component reference plane around the X axis, Mo Yj-1 It is the rotation matrix of the reference plane of the j-1th level rotating component around the Y axis.

[0033] Furthermore, in another preferred embodiment, the above step S10 is specifically as follows:

[0034] The host computer calculates the optimal coaxiality of the multi-stage rotating component gap stacking according to the accumulated eccentricity error caused by the gap stacking of the multi-stage rotating components.

[0035] Furthermore, in another preferred embodiment, the axial projection of the center position of the assembly surface of the multi-stage rotating component is specifically:

[0036]

[0037] Among them Mo Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotating component.

[0038] Technical Effects

[0039] The present invention provides a gap stacking assembly device for large-scale high-speed rotating equipment based on digital twins, which solves the problem that when multi-stage rotating parts are gap stacked, the rotating parts have unbalanced rotation due to large assembly errors, which in turn causes the large-scale high-speed rotating equipment to generate noise and vibration during operation, directly affecting the performance and service life of the whole machine.

[0040] Compared with the existing technology, the following advantages are produced:

[0041] 1. In existing aircraft engines, dozens of rotating parts need to be installed on an axis less than one meter long, and multiple rotating parts are stacked with gaps. The assembly errors of multi-stage rotating parts will be rapidly amplified during operation, causing the rotating parts to rotate unbalanced, which in turn causes large-scale high-speed rotating equipment to generate noise and vibration during operation, and directly affects the performance and service life of the whole machine. The present invention provides a large-scale high-speed rotating equipment gap stacking assembly device based on digital twins, wherein an inductive sensor is arranged on the assembly device, and a data acquisition device drives the inductive sensor to collect data information of the rotating parts, and sends the data information to a virtual assembly model, while the host computer analyzes and calculates the data information to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts, and the staff uses the optimal coaxiality of the gap stacking of the multi-stage rotating parts to control the assembly process. The problem that the assembly errors generated when the multi-stage rotating parts are assembled in gap stacking will be rapidly amplified during operation, causing the rotating parts to rotate unbalanced, which in turn causes the large-scale high-speed rotating equipment to generate noise and vibration during operation, and directly affects the performance and service life of the whole machine is solved.

[0042] 2. The present invention provides a gap stacking assembly device for large-scale high-speed rotating equipment based on digital twins, which uses AR glasses to display in real time the data information measured by the inductive sensor during the assembly process to control the assembly process. The AR glasses can monitor in real time the data changes generated by the multi-stage rotating parts during the assembly process to realize intelligent assembly.

[0043] The invention is applicable to the technical field of engine assembly and is used for measuring the assembly error of engine rotating parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of a gap stacking assembly device for large-scale high-speed rotating equipment based on digital twin drive as described in embodiments one to seven.

[0045] Figure 2 This is a data feedback flow chart of a gap stacking assembly method for large-scale high-speed rotating equipment driven by digital twins as described in Implementation Method Seven.

[0046] Among them: 1 is the granite base, 2 is the air-floating rotary spindle, 3 is the vertical air-floating guide rail, 4 is the centering and tilting workbench, 5a is the lower left connecting piece, 5b is the upper left connecting piece, 6a is the lower left lateral measuring rod, 6b is the upper left lateral measuring rod, 7 is the radial inductive sensor, 8 is the axial inductive sensor, 9 is the AR glasses, and 10 is the host computer. Implementation

[0047] Implementation method 1. See Figure 1 This embodiment is described. This embodiment provides a large-scale high-speed rotary equipment gap stacking assembly device based on digital twin, and the assembly device includes an assembly device entity, a data acquisition device and a host computer (10);

[0048] The assembly device entity establishes data communication with a host computer (10) through a data acquisition device, and the host computer (10) establishes a virtual assembly model;

[0049] The assembly device entity comprises an air-floating rotary spindle (2), a vertical air-floating guide rail (3), a centering and tilting adjustment workbench (4), an upper left connecting piece (5b), a lower left connecting piece (5a), an upper left transverse measuring rod (6b), a lower left transverse measuring rod (6a) and an inductive sensor;

[0050] The centering and tilting workbench (4) is stacked on the air-floating rotary main shaft (2), and the centering and tilting workbench is coaxial with the air-floating rotary main shaft. The vertical air-floating guide rail (3) is arranged on the side of the air-floating rotary main shaft (2). The upper left connecting piece (5b) and the lower left connecting piece (5a) are sequentially mounted on the vertical air-floating guide rail (3) from top to bottom. The upper left transverse measuring rod (6b) is nested on the upper left connecting piece (5b), and the lower left transverse measuring rod (6a) is nested on the lower left connecting piece (6b).

[0051] The inductive sensor comprises an axial inductive sensor (8) and a radial inductive sensor (7); the axial inductive sensor (8) is fixed on the upper left transverse measuring rod (6b) and is used to detect the axial surface data of the rotating component; the radial inductive sensor (7) is fixed on the lower left transverse measuring rod (6a) and is used to detect the radial surface data of the rotating component;

[0052] The data acquisition device drives the inductive sensor to collect data and sends it to the host computer (10). The host computer (10) integrates the collected data into the virtual assembly model and analyzes and calculates the collected data to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts.

[0053] In actual application of this embodiment, the assembly device entity establishes data communication with the host computer through the data acquisition device, the host computer establishes a virtual assembly model, and the assembly device entity is provided with an inductive sensor for measuring the data information of the rotating parts and sending it to the virtual assembly model for integration. At the same time, the host computer analyzes and calculates the data information to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts. The staff uses the virtual assembly model and the optimal coaxiality of the gap stacking of the multi-stage rotating parts to control the assembly process.

[0054] In existing aircraft engines, dozens of rotating parts need to be installed on an axis less than one meter long, and multiple rotating parts are stacked with gaps. The assembly errors of multi-stage rotating parts will be rapidly amplified during operation, causing the rotating parts to rotate unbalanced, which in turn causes large-scale high-speed rotating equipment to generate noise and vibration during operation, and directly affects the performance and service life of the whole machine. This embodiment provides a large-scale high-speed rotating equipment gap stacking assembly device based on digital twins, wherein an inductive sensor is arranged on the assembly device, and a data acquisition device drives the inductive sensor to collect data information of the rotating parts, and sends the data information to the virtual assembly model, while the host computer analyzes and calculates the data information to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts, and the staff uses the optimal coaxiality of the gap stacking of the multi-stage rotating parts to control the assembly process. The assembly error generated during the gap stacking assembly of multi-stage rotating parts will be rapidly amplified during operation, causing the rotating parts to rotate unbalanced, which in turn causes large-scale high-speed rotating equipment to generate noise and vibration during operation, and directly affects the performance and service life of the whole machine.

[0055] Implementation method 2. See Figure 1 This embodiment is described. This embodiment is an example of the movement trajectory of the upper left connecting member (5b) and the lower left connecting member (5a) in a gap stacking assembly device for large-scale high-speed rotating equipment based on digital twin described in Embodiment 1. The upper left connecting member (5b) and the lower left connecting member (5a) slide vertically on the vertical air-floating guide rail (3).

[0056] When this embodiment is actually used, the upper left connecting piece (5b) and the lower left connecting piece (5a) slide vertically along the vertical air-floating guide rail (3), thereby driving the axial inductance sensor (8) and the radial inductance sensor (7) to move up and down, and rotating parts of different sizes or shapes can be measured, making the gap stacking assembly device for large-scale high-speed rotating equipment based on digital twins described in this embodiment more flexible.

[0057] Implementation method 3. See Figure 1This embodiment is described as follows: This embodiment is an example of the motion trajectory of the upper left transverse measuring rod (6b) in the gap stacking assembly device of a large-scale high-speed rotating equipment based on digital twin described in Embodiment 1, wherein the upper left transverse measuring rod (6b) moves horizontally along the upper left connecting member (5b).

[0058] When this embodiment is actually used, the upper left transverse measuring rod (6b) moves horizontally along the upper left connecting piece (5b), thereby driving the axial inductive sensor (8) to move left and right, so that rotating parts of different sizes or shapes can be measured, making the gap stacking assembly device of large-scale high-speed rotating equipment based on digital twins described in this embodiment more flexible.

[0059] Implementation method 4. See Figure 1 This embodiment is described. This embodiment is an example of the motion trajectory of the lower left transverse measuring rod (6a) in the gap stacking assembly device of a large-scale high-speed rotating equipment based on digital twin described in Embodiment 1. The lower left transverse measuring rod (6a) moves horizontally on the lower left connecting member (5a).

[0060] When this embodiment is actually used, the lower left transverse measuring rod (6a) moves horizontally on the lower left connecting member (5a), thereby driving the radial inductive sensor (7) to move left and right, so that rotating parts of different sizes or shapes can be measured, making the gap stacking assembly device of large-scale high-speed rotating equipment based on digital twins described in this embodiment more flexible.

[0061] Implementation method 5. See Figure 1 The present embodiment is described as follows. The present embodiment is based on the large-scale high-speed rotary equipment gap stacking assembly device based on digital twin described in the first embodiment, and a granite base (1) is added. The air-floating rotary main shaft (2) is embedded in the center position of the granite base (1), and the vertical air-floating guide rail (3) is fixed on the granite base (1).

[0062] In actual application of this embodiment, the air-floating rotating main shaft (2) is embedded in the center of the granite base (1), and the vertical air-floating guide rail (3) is fixed on the granite base (1). The stability of the air-floating rotating main shaft (2) and the vertical air-floating guide rail (3) during operation is ensured, thereby ensuring the stability of the gap stacking assembly device of large-scale high-speed rotating equipment based on digital twin described in this embodiment. When impacted by external force or other factors, it will not fall down, thereby improving the safety of the assembly device described in this embodiment.

[0063] Implementation method 6. See Figure 1This embodiment describes that this embodiment adds AR glasses to the large-scale high-speed rotating equipment gap stacking assembly device based on digital twin described in Embodiment 1. The AR glasses (9) are connected to a host computer (10). The data information received and calculated by the host computer (10) is displayed on the AR glasses (9) for real-time display of the data information.

[0064] When this embodiment is actually used, the data information received and calculated by the host computer (10) is displayed on the AR glasses (9) for real-time display of the data information.

[0065] This embodiment provides a gap stacking assembly device for large-scale high-speed rotating equipment based on digital twins, which uses AR glasses to display the data information measured by the inductive sensor during the assembly process in real time to control the assembly process. AR glasses can monitor the data changes generated by multi-level rotating components during the assembly process in real time to achieve intelligent assembly.

[0066] Implementation method 7. See Figure 1 and Figure 2 This embodiment is described. The method for gap stacking and assembling large-scale high-speed rotating equipment based on digital twins described in this embodiment is implemented based on a gap stacking and assembling device for large-scale high-speed rotating equipment based on digital twins described in any one of Embodiments 1 to 6. The steps of the method are:

[0067] S1, wearing AR glasses (9), using virtual-real registration technology, establishing data communication between the assembly device entity and the host computer (10) through a data acquisition device, and the host computer (10) establishing a virtual assembly model;

[0068] S2, placing the rotating component to be measured on the centering and tilting adjustment workbench (4) and fixing it;

[0069] S3, the air-floating rotating main shaft (2) rotates, thereby driving the rotating component to be measured to rotate at a uniform speed;

[0070] S4, the data acquisition device drives the radial inductance sensor (7) to perform sampling measurements at equal intervals on the radial installation reference plane of the rotating component to be measured, obtains the radial reference plane eccentricity of the rotating component, and sends the radial reference plane eccentricity to the virtual assembly model, while displaying the data information on the AR glasses (9);

[0071] S5, the data acquisition device drives the axial inductance sensor (8) to perform sampling measurements at equal intervals on the axial installation reference plane of the rotating component to be measured, obtains the eccentricity of the axial reference plane of the rotating component, and sends the eccentricity of the axial reference plane to the virtual assembly model, while displaying the data information on the AR glasses (9);

[0072] S6. The virtual assembly model sets a centering and tilting adjustment table (4) according to the size and direction of the radial reference surface eccentricity and the axial reference surface eccentricity of the rotating component, so that the rotating component is concentric with the centering and tilting adjustment table (4);

[0073] S7, the data acquisition device drives the radial inductance sensor (7) to sample and measure at equal intervals on the radial installation measurement surface of the rotating component to obtain the concentricity of the rotating component, and sends the concentricity to the virtual assembly model; the data acquisition device drives the axial inductance sensor (8) to sample and measure at equal intervals on the axial installation measurement surface of the rotating component to obtain the verticality of the rotating component, and sends the verticality to the virtual assembly model;

[0074] S8, the data acquisition device drives the inductive sensor to measure all the rotating parts required for assembly respectively, obtains the concentricity and verticality of the multi-level rotating parts, and sends them to the virtual assembly model, while displaying the data information on the AR glasses (9);

[0075] S9, the virtual assembly model integrates the collected data information, and the host computer (10) calculates the cumulative eccentricity error caused by the gap stacking of the multi-stage rotating components according to the concentricity and verticality of the multi-stage rotating components;

[0076] S10, the host computer (10) calculates the optimal coaxiality of the stacking of the multi-stage rotating component gaps according to the accumulated eccentricity error generated by the stacking of the multi-stage rotating component gaps, and displays the optimal coaxiality of the stacking of the multi-stage rotating component gaps on the AR glasses (9);

[0077] S11. The assembly process is controlled by using the optimal coaxiality of the gap stacking of the multi-level rotating parts displayed on the virtual assembly model and the AR glasses (9).

[0078] In actual application of this embodiment, the staff wears AR glasses and uses virtual-reality registration technology to establish data communication between the assembly device entity and the host computer through the data acquisition device, and the host computer establishes a virtual assembly model; the data acquisition device drives the inductive sensor to collect data information of the rotating parts, and sends the data information to the virtual assembly model for integration, and the host computer analyzes and calculates the data information to obtain the optimal coaxiality of the multi-stage rotating component gap stacking. At the same time, the data information and the optimal coaxiality of the multi-stage rotating component gap stacking are displayed on the AR glasses. The staff uses the virtual assembly model and the optimal coaxiality of the multi-stage rotating component gap stacking displayed on the AR glasses to control the assembly process.

[0079] The present embodiment provides a gap stacking assembly method for large-scale high-speed rotary equipment based on digital twins. The method is implemented based on the assembly device described in any one of embodiments 1 to 6. The method is that a worker wears AR glasses and uses virtual-real registration technology to establish data communication between the assembly device entity and the host computer through a data acquisition device, and the host computer establishes a virtual assembly model; the data acquisition device drives the inductive sensor to collect different data information of the rotary components, and sends the data information to the virtual assembly model for integration. At the same time, the host computer analyzes and calculates the data information to obtain the optimal coaxiality of the gap stacking of the multi-stage rotary components, and displays the optimal coaxiality of the gap stacking of the multi-stage rotary components on the AR glasses. The worker uses the virtual assembly model and the optimal coaxiality of the gap stacking of the multi-stage rotary components displayed on the AR glasses (9) to control the assembly process.

[0080] Implementation 8. This implementation is to illustrate the cumulative eccentricity error caused by the gap stacking of multi-stage rotating parts in step S9 of the gap stacking assembly method of large-scale high-speed rotating equipment based on digital twins described in Implementation 7. The cumulative eccentricity error caused by the gap stacking of multi-stage rotating parts is specifically:

[0081]

[0082] Rotor ri is the transformation matrix between the joint surfaces of the two-stage rotating parts, Rotor Zi is the eccentricity of the ideal center of the rotating component i, Rotor clearancei is the translation transformation matrix of the clearance eccentricity of the reference surface of the rotating component i, Rotor dzi is the eccentric translation transformation matrix caused by the machining error of the reference surface of the rotating component i, Rotor orientationi is the rotation transformation matrix from the reference plane of the rotating component i to the rotation center of the assembly surface, Mo Xi is the rotation matrix of the reference plane of the i-th level rotating component around the X axis, Mo Yi Mo is the rotation matrix of the reference plane of the i-th level rotating component around the Y axis; Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotating component.

[0083] Implementation method nine. This implementation method is an example of step S10 in the gap stacking assembly method of a large-scale high-speed rotary equipment based on digital twin described in implementation method seven;

[0084] The upper computer (10) calculates the axial projection of the center position of the assembly surface of the multi-stage rotating component according to the accumulated eccentricity error generated by the gap stacking of the multi-stage rotating component, and the upper computer (10) calculates the optimal coaxiality of the gap stacking of the multi-stage rotating component according to the axial projection of the center position of the assembly surface of the multi-stage rotating component.

[0085] In practical application of this embodiment, twice the maximum modulus of the axial projection of the center position of the assembly surface of the multi-stage rotating component is the optimal coaxiality of the multi-stage gap stacked rotating component.

[0086] Embodiment 10. This embodiment is an example of the axial projection of the center position of the multi-stage rotating component assembly surface in the gap stacking assembly method of large-scale high-speed rotating equipment based on digital twins described in Embodiment 9. The axial projection of the center position of the multi-stage rotating component assembly surface is specifically:

[0087]

[0088] Among them Mo Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotating component.

[0089] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A large-scale high-speed rotary equipment gap stacking assembly method based on digital twin, the assembly method is implemented based on a large-scale high-speed rotary equipment gap stacking assembly device based on digital twin, characterized in that: The assembly device comprises an assembly device entity, a data acquisition device and a host computer (10); The assembly device entity establishes data communication with a host computer (10) through a data acquisition device, and the host computer (10) establishes a virtual assembly model; The assembly device entity comprises an air-floating rotary spindle (2), a vertical air-floating guide rail (3), a centering and tilting adjustment workbench (4), an upper left connecting piece (5b), a lower left connecting piece (5a), an upper left transverse measuring rod (6b), a lower left transverse measuring rod (6a) and an inductive sensor; The centering and tilting workbench (4) is stacked on the air-floating rotary main shaft (2), and the centering and tilting workbench is coaxial with the air-floating rotary main shaft. The vertical air-floating guide rail (3) is arranged on the side of the air-floating rotary main shaft (2). The upper left connecting piece (5b) and the lower left connecting piece (5a) are sequentially mounted on the vertical air-floating guide rail (3) from top to bottom. The upper left transverse measuring rod (6b) is nested on the upper left connecting piece (5b), and the lower left transverse measuring rod (6a) is nested on the lower left connecting piece (5a). The inductive sensor comprises an axial inductive sensor (8) and a radial inductive sensor (7); the axial inductive sensor (8) is fixed on the upper left transverse measuring rod (6b) and is used to detect the axial surface data of the rotating component; the radial inductive sensor (7) is fixed on the lower left transverse measuring rod (6a) and is used to detect the radial surface data of the rotating component; The data acquisition device drives the inductive sensor to collect data and sends the data to the host computer (10); the host computer (10) integrates the collected data into the virtual assembly model, and analyzes and calculates the collected data to obtain the optimal coaxiality of the gap stacking of the multi-stage rotating parts; The assembly device further comprises AR glasses (9), wherein the AR glasses (9) are connected to a host computer (10), and data information received and calculated by the host computer (10) are displayed on the AR glasses (9) for real-time display of data information; The assembly method is: S1, wearing AR glasses (9), using virtual-real registration technology, establishing data communication between the assembly device entity and the host computer (10) through a data acquisition device, and the host computer (10) establishing a virtual assembly model; S2, placing the rotating component to be measured on the centering and tilting adjustment workbench (4) and fixing it; S3, the air-floating rotating main shaft (2) rotates, thereby driving the rotating component to be measured to rotate at a uniform speed; S4, the data acquisition device drives the radial inductance sensor (7) to perform sampling measurements at equal intervals on the radial installation reference plane of the rotating component to be measured, obtains the radial reference plane eccentricity of the rotating component, and sends the radial reference plane eccentricity to the virtual assembly model, while displaying the data information on the AR glasses (9); S5, the data acquisition device drives the axial inductance sensor (8) to perform sampling measurements at equal intervals on the axial installation reference plane of the rotating component to be measured, obtains the eccentricity of the axial reference plane of the rotating component, and sends the eccentricity of the axial reference plane to the virtual assembly model, while displaying the data information on the AR glasses (9); S6. The virtual assembly model sets a centering and tilting adjustment table (4) according to the size and direction of the radial reference surface eccentricity and the axial reference surface eccentricity of the rotating component, so that the rotating component is concentric with the centering and tilting adjustment table (4); S7, the data acquisition device drives the radial inductance sensor (7) to sample and measure at equal intervals on the radial installation measurement surface of the rotating component to obtain the concentricity of the rotating component, and sends the concentricity to the virtual assembly model; the data acquisition device drives the axial inductance sensor (8) to sample and measure at equal intervals on the axial installation measurement surface of the rotating component to obtain the verticality of the rotating component, and sends the verticality to the virtual assembly model; S8, the data acquisition device drives the inductive sensor to measure all the rotating parts required for assembly respectively, obtains the concentricity and verticality of the multi-level rotating parts, and sends them to the virtual assembly model, while displaying the data information on the AR glasses (9); S9, the virtual assembly model integrates the collected data information, and the host computer (10) analyzes and calculates the cumulative eccentricity error caused by the gap stacking of the multi-stage rotating parts according to the concentricity and verticality of the multi-stage rotating parts; S10, the host computer (10) calculates the optimal coaxiality of the stacking of the multi-stage rotating component gaps according to the accumulated eccentricity error generated by the stacking of the multi-stage rotating component gaps, and displays the optimal coaxiality of the stacking of the multi-stage rotating component gaps on the AR glasses (9); S11. The assembly process is controlled by using the optimal coaxiality of the gap stacking of the multi-level rotating parts displayed on the virtual assembly model and the AR glasses (9).

2. According to the method of gap stacking assembly of large-scale high-speed rotary equipment based on digital twinning in claim 1, it is characterized in that: The upper left connecting piece (5b) and the lower left connecting piece (5a) slide vertically on the vertical air-floating guide rail (3).

3. According to the method of gap stacking assembly of large-scale high-speed rotary equipment based on digital twinning in claim 1, it is characterized in that: The upper left transverse measuring rod (6b) moves horizontally on the upper left connecting member (5b).

4. According to the method of gap stacking assembly of large-scale high-speed rotary equipment based on digital twinning in claim 1, it is characterized in that: The lower left transverse measuring rod (6a) moves horizontally on the lower left connecting member (5a).

5. According to a method for gap stacking assembly of large-scale high-speed rotary equipment based on digital twinning according to claim 1, it is characterized in that: The assembly device also includes a granite base (1), an air-floating rotary main shaft (2) is embedded in the center of the granite base (1), and a vertical air-floating guide rail (3) is fixedly mounted on the granite base (1).

6. The gap stacking assembly method of large-scale high-speed rotary equipment based on digital twin according to claim 1 is characterized in that: The assembly device further comprises AR glasses (9), wherein the AR glasses (9) are connected to a host computer (10), and data information received and calculated by the host computer (10) are displayed on the AR glasses (9) for real-time display of the data information.

7. The gap stacking assembly method of large-scale high-speed rotary equipment based on digital twin according to claim 1 is characterized in that: The cumulative eccentricity error caused by the gap stacking of the multi-stage rotating parts in step S9 is specifically: Rotor ri is the transformation matrix between the joint surfaces of the two-stage rotating parts, Rotor Zi is the eccentricity of the ideal center of the rotating component i, Rotor clearancei is the translation transformation matrix of the clearance eccentricity of the reference surface of the rotating component i, Rotor dzi is the eccentric translation transformation matrix caused by the machining error of the reference surface of the rotating component i, Rotor orientationi is the rotation transformation matrix from the reference plane of the rotating component i to the rotation center of the assembly surface, Mo Xi is the rotation matrix of the reference plane of the i-th level rotating component around the X axis, Mo Yi is the rotation matrix of the reference plane of the i-th level rotating component around the Y axis; Mo Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotary component, Mo Zj-1 is the rotation matrix of the reference plane of the j-1th level rotating component around the Z axis, Mo Xj-1 is the rotation matrix of the j-1st level rotating component reference plane around the X axis, Mo Yj-1 It is the rotation matrix of the reference plane of the j-1th level rotating component around the Y axis.

8. The method for gap stacking assembly of large-scale high-speed rotary equipment based on digital twin according to claim 1 is characterized in that: Step S10 is specifically as follows: The upper computer (10) calculates the axial projection of the center position of the assembly surface of the multi-stage rotating component according to the accumulated eccentricity error generated by the gap stacking of the multi-stage rotating component, and the upper computer (10) calculates the optimal coaxiality of the gap stacking of the multi-stage rotating component according to the axial projection of the center position of the assembly surface of the multi-stage rotating component.

9. The method for gap stacking assembly of large-scale high-speed rotary equipment based on digital twin according to claim 1, characterized in that: The axial projection of the center position of the assembly surface of the multi-stage rotating component is as follows: Among them Mo Zi is the rotation matrix of the i-th level rotating component around the Z axis, S i is the ideal position vector of the center of the assembly surface of the i-th level rotating component, dS' i is the eccentric position vector of the clearance of the i-th rotating component, dS i is the machining error vector of the center position of the assembly surface of the i-th level rotating component.

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