A visual guidance device and visual guidance assembly method for hole system docking in assembly

Abstract

This invention relates to a visual guidance device and method for hole-system docking in aircraft assembly, belonging to the field of aircraft assembly technology. It solves the problem of low assembly efficiency caused by the difficulty in accurately determining the installation position during the docking and fixing of large components. The visual guidance device for hole-system docking of this invention includes a vision support assembly, a main vision assembly, an auxiliary vision assembly, a power unit, a signal transmission assembly, and a controller. The vision support assembly includes a support frame, a guide rail unit, and a push unit. An assembly ear positioning body is provided on the support frame, and an assembly ear positioning surface is provided on the assembly ear positioning body. The signal transmission assembly receives image signals and transmits them to the controller; the controller generates displacement signals to control the displacement of the push unit and the assembled component. The visual guidance device for hole-system docking of this invention has a compact structure and is easy to use; the visual guidance assembly method of this invention can significantly improve assembly efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of aircraft assembly technology, specifically to a visual guidance device for hole-system docking and a visual guidance assembly method. Background Technology

[0002] In the later stages of aircraft manufacturing, due to the large size of components such as wings, fuselage, or other process assembly parts, it is usually necessary to connect these parts at multiple locations simultaneously to ensure the consistency of assembly stress and the stability of the assembly structure. The installation process requires multi-point support to assist in installing them in the correct position.

[0003] Typically, the assembly auxiliary unit adopts a structure with multiple ear plates. That is, multiple ear plates are fixed on a large bracket at a designed position. Each ear plate is connected near the mounting interface position of the workpiece to be assembled (usually a wing or some process assembly parts). The large bracket is moved to gradually approach the workpiece to be assembled (usually a fuselage) to align the mounting interface position of the workpiece to be assembled with the mounting interface position of the assembly workpiece. Then, the workpiece to be assembled and the assembly workpiece are connected by fasteners or hinges.

[0004] However, during the assembly of large components such as wings or process assembly parts onto the fuselage, structural deformation and other factors often prevent the mounting interface positions of the assembled parts from being quickly and accurately aligned with all the mounting interface positions of the assembled parts.

[0005] The difficulty in aligning the installation interfaces and the challenge in controlling the alignment accuracy inevitably lead to inefficient assembly and fastening processes.

[0006] Therefore, how to quickly obtain the installation interface positions of each assembled workpiece, so as to provide a basis for the scientific implementation of rapid and accurate assembly of large parts, has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0007] Based on the above analysis, the present invention aims to provide a visual guidance device and a visual guidance assembly method for assembly hole system docking, so as to solve the technical problems of the inability to quickly align the installation position and the low assembly efficiency in the existing assembly process of large aircraft parts.

[0008] The specific technical solution is as follows:

[0009] A visual guidance device for assembly hole system docking is used to connect an assembly to a workpiece via visual guidance. It includes a vision support assembly, a main vision assembly, an auxiliary vision assembly, a power unit, a transmission assembly, and a controller. The transmission assembly is connected to the vision support assembly. The main vision assembly includes a main camera and a main light source unit. The auxiliary vision assembly and the main light source unit are fixedly connected to the vision support assembly. The main camera and the power assembly are movably connected to the vision support assembly. The vision support assembly includes a support frame, a guide rail unit, and a pushing unit. The guide rail unit and the pushing unit are connected to the support frame. An assembly ear positioning body is provided on the support frame, and the assembly ear positioning body has an assembly ear positioning surface. The transmission assembly receives image signals from the main vision assembly and the auxiliary vision assembly and transmits the image signals to the controller. The controller generates a displacement signal based on the image signals, and the displacement signal controls the pushing unit and the assembly to move.

[0010] Furthermore, the signal transmission component includes a router and an antenna.

[0011] Furthermore, it also includes a mounting housing unit; the main camera and the power unit are connected inside the mounting housing unit; the mounting housing unit is connected below the guide rail unit; the pushing unit can drive the mounting housing unit to move along the guide rail unit.

[0012] Furthermore, the router is connected to the visual support assembly, and the antenna is connected to the mounting housing unit.

[0013] Furthermore, the support frame includes a movable clamping plate and a fixed connecting plate; the movable clamping plate is provided with a push unit mounting position, a guide rail mounting groove, and an auxiliary camera mounting part.

[0014] Furthermore, the fixed connecting plate is provided with a main light source mounting part.

[0015] Furthermore, the guide rail unit is installed in the guide rail mounting groove; a pushing unit is installed at the pushing unit mounting position.

[0016] Furthermore, the auxiliary vision component is connected to the auxiliary camera mounting portion.

[0017] Furthermore, the guide rail mounting groove is provided on the inner side of the movable clamping plate of the support frame; the guide rail unit includes a movable guide rail and a fixed guide rail.

[0018] Furthermore, the fixed guide rail is connected upward to the movable clamping plate of the support frame via fixed guide rail fasteners; the movable guide rail is movably connected to the fixed guide rail via a matching track structure; and the movable guide rail is suspended on the lower end face of the movable guide rail via movable guide rail fasteners.

[0019] Furthermore, the pushing unit can drive the mounting housing unit and its connected parts to produce linear displacement / drive the movable guide rail to produce linear displacement.

[0020] Furthermore, the auxiliary camera mounting part is disposed at the second end of the movable clamping plate; the auxiliary vision component is connected to the auxiliary camera mounting part.

[0021] Furthermore, the auxiliary vision component includes an auxiliary camera, an auxiliary camera protective housing, and an auxiliary camera light source.

[0022] Furthermore, the auxiliary camera light source is connected to the auxiliary camera mounting part by a universal joint with a fastening function.

[0023] Furthermore, the projection position of the auxiliary vision component as a whole is located between the fixed mounting plate and the mounting housing unit.

[0024] Furthermore, the second end of the movable clamping plate is also provided with an auxiliary light source mounting position, which is located at the symmetrical center of the auxiliary camera mounting part; the auxiliary camera light source is connected to the auxiliary camera light source.

[0025] Furthermore, the main light source mounting part is provided on the inner side of the lower end of the fixed connecting plate; the main light source mounting part is connected to the assembly positioning unit; and the main light source unit is connected to the outer side of the lower end of the fixed connecting plate.

[0026] Furthermore, a pressure sensor is provided on the assembly positioning unit.

[0027] Furthermore, the main light source mounting part is located on the inner side of the lower end of the fixed connecting plate; the main light source mounting part includes a main light source positioning platform, an assembly positioning unit mounting position, and a main light source light transmission hole.

[0028] Furthermore, the mounting ear positioning body protrudes from the inner end face of the main light source mounting part, and the mounting ear positioning body is provided with a mounting ear positioning surface that is an integral mounting ear positioning surface; the mounting ear positioning surface faces the assembly positioning unit.

[0029] Furthermore, the mounting ear positioning body is integrally formed with the support frame.

[0030] Optionally, the mounting ear positioning body is installed on the support frame; an independent mounting groove for the mounting ear is provided on the inner end face of the main light source mounting part, the mounting groove for the independent mounting ear is connected to the mounting ear positioning body, and the mounting ear positioning body is provided with the mounting ear positioning surface.

[0031] Furthermore, the main light source mounting part is connected to the assembly positioning unit.

[0032] Furthermore, the assembly positioning unit includes a positioning body mounting part, a positioning body centering part, and a positioning body main light source light transmission hole.

[0033] Furthermore, the assembly positioning unit is a stepped axle structure, the positioning body mounting part and the positioning body centering part are coaxially arranged, and the main light source light transmission hole of the positioning body is a coaxially arranged through hole.

[0034] Furthermore, the main light source unit is connected to the outer side of the lower end of the fixed connecting plate; the main light source unit includes a main light source housing, a main light source emitting element, and a main light source switch.

[0035] Furthermore, the main light source housing is connected to the outside of the fixed connecting plate, the main light source emitter is positioned and connected inside the light source housing, and the main light source switch is connected to the outside of the main light source housing and passes through the main light source housing to connect to the main light source emitter.

[0036] Furthermore, the main light source is an LED light source made of organic electroluminescent material.

[0037] Furthermore, the main vision component also includes a main camera positioning cylinder; the main camera positioning cylinder is connected to the mounting housing unit; the main camera, the main camera positioning cylinder, and the assembly positioning unit are coaxially arranged.

[0038] Furthermore, the power unit includes a battery unit, a boost module, a buck module, a power switch, and a power charging interface.

[0039] A visually guided assembly method employs the aforementioned assembly hole system docking visual guidance device to visually guide the assembly process of connecting the assembled parts to the assembly body.

[0040] Furthermore, the visually guided assembly method includes the following steps:

[0041] S1. Preparation: This includes the preparation of the assembly hole system docking vision guide device, the assembly body and the assembled body; it also includes the communication connection between the controller, the assembly hole system docking vision guide device and the carrier unit.

[0042] S2. Preliminary adjustment of the installation position between the assembly and the assembled parts:

[0043] The controller sends a displacement command to the transport unit based on the image data collected by the auxiliary camera. The transport unit then moves the assembled object at high speed to perform a preliminary adjustment of the assembly position.

[0044] S3. Precise adjustment of the installation position between the assembly and the assembled parts:

[0045] The controller sends a displacement command to the transport unit based on the image data collected by the main camera. The transport unit then moves the assembled object at a low speed to precisely adjust the assembly position.

[0046] S4. Securely fasten the assembly to the assembly:

[0047] The controller initiates the removal process of the push unit; fasteners are used to lock the mounting ears and the mounted ears, completing the assembly between the mounted body and the assembly body.

[0048] Furthermore, S1 includes a communication connection between the controller and the assembly hole-system visual guidance device.

[0049] Furthermore, the signal transmission connection includes the establishment of a transmission channel for displacement control signals between the controller and the propulsion unit and the carrier unit, as well as the establishment of a transmission channel for pressure signals between the controller and the pressure sensor.

[0050] Compared with the prior art, the present invention can achieve at least the following beneficial effects:

[0051] 1. The assembly hole system docking vision guidance device of the present invention adopts a combination of image data collected by a main camera and an auxiliary camera, which facilitates rapid preliminary position adjustment of the assembled parts under the guidance of the auxiliary camera and precise position adjustment under the guidance of the main camera, thereby improving assembly efficiency and assembly accuracy.

[0052] 2. The assembly hole system docking vision guidance device of the present invention uses the assembly ear positioning body and its assembly ear positioning surface and the assembly positioning unit to perform omnidirectional positioning of the assembly, which can ensure the stability of the assembly position during the assembly process, ensure that the image data collected by the main vision component and the auxiliary vision component have real-time consistency, and facilitate the controller to successfully calculate the correct displacement signal.

[0053] 3. The vision-guided assembly method provided by this invention can transmit the position data of the assembly and the object to be assembled, collected by the main vision component and the auxiliary vision component, to the controller in real time through the signal transmission unit. The controller then provides the displacement data of the displacement execution unit through the image processor and displacement solver. The displacement data calculated by the controller is sent back to each displacement execution unit in real time in the form of instructions, which can ensure that the assembled parts quickly reach the correct position on the correct path and complete the connection with the assembly, greatly improving the assembly accuracy and efficiency.

[0054] Other features and advantages of the invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained from what is particularly pointed out in the description and the drawings. Attached Figure Description

[0055] The accompanying drawings are for the purpose of illustrating specific embodiments only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0056] Figure 1 This is a schematic diagram of the overall structure of the assembly hole system docking visual guidance device of Embodiment 1 of the present invention. Figure 1 ;

[0057] Figure 2 This is a schematic diagram of the main light source unit structure in Embodiment 1 of the present invention;

[0058] Figure 3 for Figure 2 Sectional view along line AA;

[0059] Figure 4 This is a schematic diagram of the support frame structure according to Embodiment 1 of the present invention;

[0060] Figure 5 This is a schematic diagram of the combined support frame unit structure of Embodiment 1 of the present invention;

[0061] Figure 6 for Figure 5 Schematic diagram of the combined support frame structure;

[0062] Figure 7 This is a schematic diagram of the independent positioning body structure for the assembly ear in Embodiment 1 of the present invention;

[0063] Figure 8 This is a partial structural diagram of the assembly hole system docking visual guidance device of Embodiment 1 of the present invention. Figure 1 ;

[0064] Figure 9 This is a partial structural diagram of the assembly hole system docking visual guidance device according to Embodiment 1 of the present invention;

[0065] Figure 10 This is a schematic diagram of the assembly relationship between the assembly hole system docking visual guidance device and the assembly body in Embodiment 1 of the present invention;

[0066] Figure 11 This is a schematic diagram of the assembly relationship between the assembly hole system docking visual guidance device and the assembled object in Embodiment 1 of the present invention.

[0067] Figure 12 for Figure 1 Assembly diagram of the structural components after assembly;

[0068] Figure 13 This is a schematic diagram of the overall structure of the assembly hole system docking visual guidance device of Embodiment 1 of the present invention. Figure 2 ;

[0069] Figure 14 This is a block diagram of the visually guided assembly method according to Embodiment 2 of the present invention.

[0070] Figure label:

[0071] 1. Support frame assembly; 11. Support frame; 111. Push unit mounting position; 112. Guide rail mounting slot; 1121. Mounting slot guide rail mounting position; 113. Auxiliary camera mounting part; 1131. Auxiliary camera mounting position; 114. Main light source mounting part; 1141. Main light source positioning platform; 1142. Assembly positioning unit mounting position; 1143. Main light source positioning limit hole; 115. Auxiliary light source mounting position; 116. Cable mounting groove; 117. Assembly ear integrated positioning body; 1171. Assembly ear integrated positioning surface; 12. Guide rail unit; 121. Movable guide rail; 1211. Movable guide rail fastener; 122. Fixed guide rail; 1221. Fixed guide rail fastener; 13. Push unit; 14. Main camera light source mounting position; 15. Assembly ear independent positioning body; 151. Assembly ear independent positioning surface; 152. Assembly ear independent positioning body fastener 1. Fixing; 2. Main vision unit; 21. Main camera; 22. Main camera positioning cylinder; 23. Main light source unit; 231. Main light source housing; 232. Main light source emitting element; 233. Main light source switch; 234. Main light source fastener; 24. Assembly positioning unit; 241. Positioning body mounting part; 242. Positioning body centering part; 243. Positioning body main light source light transmission hole; 244. Pressure sensor; 3. Auxiliary vision unit; 31. Auxiliary camera; 32. Auxiliary camera protective housing; 33. Auxiliary camera light source; 34. Auxiliary camera fastener; 4. Power unit; 41. Battery unit; 42. Boost module; 43. Buck module; 44. Power switch; 45. Power charging interface; 5. Signal transmission unit; 51. Router; 52. Antenna; 6. Mounting housing unit; 61. Mounting housing main light hole; 7. Cable cover; 8. Controller;

[0072] 11-1. Combined support frame; 11-11. Mounting slot for independent positioning body of assembly ear; 11-111. Mounting position for independent positioning body of assembly ear;

[0073] 100. Assembly; 101. Assembly ear; 200. Assembled part; 201. Assembled ear. Detailed Implementation

[0074] The following is in conjunction with the appendix Figures 1-14 The technical solution of the present invention will be described in detail below. The accompanying drawings constitute a part of the present invention and, together with the embodiments of the present invention, are used to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0075] In this embodiment, the axis of the auxiliary vision component 3 is oriented upwards and downwards, and the lens is oriented downwards; the side of each component facing the center of mass is the inner side, and the side facing the outer perimeter is the outer side.

[0076] Example 1

[0077] A visual guidance device for assembly hole system docking.

[0078] like Figure 2 As shown, the assembly hole system docking visual guidance device of Embodiment 1 of the present invention is installed on the assembly body 100, and provides visual guidance for the process of moving the assembled body 200 to the assembly body 100 and installing it thereon through the main visual component 2 and the auxiliary visual component 3, so as to perform accurate and fast hole system docking and assembly fastening.

[0079] The assembly 100 is provided with an assembly ear 101, and the assembly ear 101 is provided with a main ear hole; the assembly ear 101 is a double ear structure.

[0080] The assembly 200 is provided with an assembly ear 201, and the assembly ear 201 is provided with a passive ear hole. The assembly 200 is disposed on the carrier unit.

[0081] With visual guidance provided by the assembly hole system docking visual guidance device of Embodiment 1 of the present invention, the transport unit gradually moves the assembly body 200 toward the assembly body 100, so that the passive ear hole gradually aligns with the main ear hole; then, by fasteners passing through the main ear hole and the passive ear hole, the assembly body 100 and the assembly body 200 are fastened together, thus completing the assembly and installation of the assembly body 200 and the assembly body 100.

[0082] like Figure 1 As shown, the assembly hole system docking vision guidance device of Embodiment 1 of the present invention includes a vision support assembly 1, a main vision assembly 2, an auxiliary vision assembly 3, a power unit 4, a signal transmission assembly 5, and a controller 8.

[0083] like Figure 2 As shown, the signal transmission component 5 includes a router 51 and an antenna 52.

[0084] The auxiliary vision component 3 acquires the external positional relationship (positional images or position identification codes of the edges of the two) of the mounted ear 201 relative to the mounting ear 101, providing data support for the rapid displacement of the mounted body 200 towards the assembly 100; the main vision component 2 acquires the hole position deviation image of the ear hole of the mounted ear 201 relative to the ear hole of the mounting ear 101, providing data support for finely adjusting the displacement of the mounted body 200 and the assembly 100 to align their installation positions. The real-time image data of the external positional relationship acquired by the auxiliary vision component 3 and the real-time image data of the circumferential position deviation acquired by the main vision component 2 can both be stored in the router 51, and the real-time image data is transmitted to the controller 8 via the antenna 52.

[0085] The controller 8 includes an image processor and a position solver. The image processor can remotely receive (wired or wireless) real-time image data and perform data preprocessing and format conversion. The position solver receives the format-converted data, generates a distance judgment result by comparing it with theoretical data, and calculates a displacement signal from the distance judgment result. The position solver transmits the displacement signal to the movement actuator in the assembly hole system docking vision guide device of this embodiment 1, so that the assembly 200 moves closer to the assembly 100 along the correct path until the installation position is aligned. Then, the controller 8 can issue a signal to the relevant displacement actuator in the assembly hole system docking vision guide device to withdraw from the installation position, so as to perform the assembly work of fastening the assembly 200 to the assembly 100.

[0086] like Figure 1 As shown, router 51 is connected above visual support assembly 1.

[0087] like Figure 4 As shown, the vision support assembly 1 includes a support frame 11, a guide rail unit 12, and a pushing unit 13; the guide rail unit 12 and the pushing unit 13 are connected to the support frame 11.

[0088] like Figure 4 As shown, the guide rail unit 12 includes a movable guide rail 121 and a fixed guide rail 122.

[0089] The pushing unit 13 can directly or indirectly push the movable guide rail 121 to make linear displacement on the fixed guide rail 122.

[0090] like Figure 2 and Figure 3 As shown, the main vision component 2 includes a main camera 21 and a main light source unit 23. The main camera 21 is equivalent to a vision sensor, which can identify and collect the position information of the target object.

[0091] like Figure 1 and Figure 2As shown, the auxiliary vision component 3 and the main light source unit 23 are fixedly connected to the vision support component 1; the main camera 21, the power unit 4 and the antenna 52 are integrated in the mounting housing unit 6, and the mounting housing unit 6 is movably connected to the vision support component 1.

[0092] like Figure 4 As shown, the support frame 11 includes a horizontal movable clamping plate and a vertical fixed connecting plate; the first end of the movable clamping plate is connected to the upper end of the fixed connecting plate.

[0093] Preferably, in this embodiment 1, the movable clamping plate and the fixed connecting plate are integrally formed, and the support frame 11 is an integral irregular-shaped plate with right angles. The integrally formed support frame 11 can ensure the positional stability of the connected structure.

[0094] like Figure 2 and Figure 4 As shown, the pushing unit 13, the guide rail unit 12, and the auxiliary vision component 3 are connected to the movable clamping plate; the main camera 21 (via the mounting housing unit 6) is connected below the guide rail unit 12; and the main light source unit 23 is connected to the fixed connecting plate and is coaxially arranged with the main camera 21.

[0095] like Figure 4 As shown, the movable clamping plate of the support frame 11 is provided with a push unit mounting position 111, a guide rail mounting groove 112, an auxiliary camera mounting part 113, and an auxiliary light source mounting position 115.

[0096] The push unit mounting position 111 is located at the second end of the movable clamping plate of the support frame 11, and the push unit 13 is connected to the push unit mounting position 111.

[0097] like Figure 1 and Figure 2 As shown, the pushing unit 13 is a bolt structure, which is set at an inclined angle at the second end of the movable clamping plate of the support frame 11. The pushing unit mounting position 111 is a screw hole. The pushing unit 13 is screwed in and out, pushing the mounting housing unit 6 to drive the connected parts and components to make linear displacement along the guide rail direction of the guide rail unit 12. Correspondingly, the mounting housing unit 6 is provided with a matching structure connected to the pushing unit 13 at the corresponding position.

[0098] Preferably, the pushing unit 13 in this embodiment 1 is an electric push rod. The output end of the pushing unit 13 is connected to the mounting housing unit 6 / movable guide rail 121. The pushing unit 13 is connected to a relay, which receives a signal from the controller 8. When the relay is connected, the pushing unit 13 receives a directional displacement control signal from the controller 8 to perform a telescopic movement. Through the mounting housing unit 6 / movable guide rail 121, the parts connected to the mounting housing unit 6 are driven to produce linear displacement, so that the main camera positioning cylinder 22 moves closer to or away from the mounting ear 101.

[0099] The guide rail mounting groove 112 is set on the inner side of the movable clamping plate of the support frame 11; the guide rail unit 12 is installed in the guide rail mounting groove 112.

[0100] The fixed guide rail 122 is connected upward to the movable clamping plate of the support frame 11 via the fixed guide rail fastener 1221; the movable guide rail 121 is movably connected to the fixed guide rail 122 via a matching track structure; the movable guide rail 121 is suspended on the lower end face of the movable guide rail 121 via the movable guide rail fastener 1211.

[0101] like Figure 4 As shown, the auxiliary camera mounting part 113 is located at the second end of the movable clamping plate near the support frame 11; the auxiliary vision component 3 is connected to the auxiliary camera mounting part 113. The auxiliary camera mounting part 113 is provided with an auxiliary imaging unit mounting plate perpendicular to the movable clamping plate.

[0102] like Figure 9 As shown, the auxiliary vision component 3 includes an auxiliary camera 31, an auxiliary camera protective housing 32, and an auxiliary camera light source 33. The overall projection position of the auxiliary vision component 3 is located between the fixed mounting plate and the mounting housing unit 6. The auxiliary camera 31 is equivalent to a vision sensor, capable of identifying and acquiring the position information of the target object.

[0103] like Figures 4-9 As shown, the auxiliary camera unit mounting plate of the movable clamping plate is provided with multiple auxiliary camera mounting positions 1131 for connecting auxiliary cameras 31.

[0104] Preferably, the auxiliary camera mounting position 1131 has multiple screw holes.

[0105] More preferably, multiple auxiliary camera mounting positions 1131 are respectively located on the upper and lower parts of the movable clamping plate of the support frame 11, which can make the center of gravity of the installed auxiliary camera 31 close to or located on the movable clamping plate of the support frame 11, thus ensuring the installation stability of the auxiliary camera 31.

[0106] The auxiliary camera 31 is fixed to the auxiliary camera mounting position 1131 by the auxiliary camera fastener 34, and the auxiliary camera 31 is connected to the movable clamping plate of the support frame 11. In the mounted position, the lens of the auxiliary camera 31 faces downward.

[0107] like Figure 2 and Figure 9 As shown, the auxiliary camera light source 33 is connected to the auxiliary light source mounting position 115.

[0108] like Figure 6 The auxiliary light source mounting position 115 is located at the symmetrical center of the auxiliary camera mounting part 113, which facilitates the provision of a reliable light source for the auxiliary camera 31.

[0109] Preferably, the auxiliary camera light source 33 is positionally adjustable and connected to the movable clamping plate of the support frame 11.

[0110] More preferably, the auxiliary camera light source 33 is connected to the auxiliary light source mounting position 115 with a universal joint having a fastening function, so that the auxiliary camera light source 33 can provide light to the auxiliary camera 31 in a preferred direction and can be fixed in a preferred position.

[0111] like Figure 2 and Figure 9 As shown, the auxiliary camera protective housing 32 is a frame cover, mounted on the upper surface of the movable clamping plate of the support frame 11, and located directly above the auxiliary camera 31. The auxiliary camera protective housing 32, with its lightweight structure, protects the auxiliary camera 31 from possible impacts during installation, ensuring the normal operation of the auxiliary camera 31.

[0112] like Figure 4 , Figure 8 and Figure 9 As shown, a main light source mounting part 114 is provided on the inner side of the lower end of the fixed connecting plate of the support frame 11. An assembly positioning unit 24 is installed on the inner side of the main light source mounting part 114 for positioning the assembly 100; a main light source unit 23 is installed on the outer side of the main light source mounting part 114, and the main light source unit 23 is used to provide light to the main camera 21.

[0113] like Figure 9 As shown, the main light source mounting section 114 includes a main light source positioning platform 1141, an assembly positioning unit mounting position 1142, and a main light source light transmission hole 1143.

[0114] The structure of the assembly positioning unit 24 is designed to match the main light source mounting part 114. The assembly positioning unit 24 is a stepped shaft platform structure, including a positioning body mounting part 241 and a positioning body centering part 242 arranged coaxially, and also includes a positioning body main light source light transmission hole 243 that runs through the entire stepped shaft platform structure.

[0115] like Figure 2 As shown, a pressure sensor 244 is also provided on the platform of the positioning body mounting part 241 connected to the positioning body centering part 242. The pressure sensor 244 is used to determine whether the assembly hole system docking visual guidance device of Embodiment 1 of the present invention is connected to the assembly ear 101 in place.

[0116] The positioning body mounting part 241 is set in the main light source positioning platform 1141. The positioning body mounting part 241 has through holes for mounting the positioning body evenly distributed around its circumference. The positioning body mounting part 241 fixes the assembly positioning unit 24 in the main light source positioning platform 1141 by fasteners passing through the through holes for mounting the positioning body. The bottom plane of the main light source positioning platform 1141 is provided with screw holes that match the through holes for mounting the positioning body.

[0117] The main light source light through hole 243 and the main light source light through hole 1143 of the positioning body are coaxially arranged. The centering part 242 of the positioning body is used as a boss structure to position the center position of the ear hole on the mounting ear 101 of the assembly 100.

[0118] like Figure 1 , Figure 10 and Figure 11 As shown, the main light source unit 23 is connected to the main light source mounting part 114 and is located on the outside of the fixed connection plate.

[0119] like Figure 12 As shown, the main light source unit 23 includes a main light source housing 231, a main light source emitter 232, and a main light source switch 233.

[0120] like Figure 3 , Figure 8 and Figure 11 As shown, the main light source housing 231 is connected to the outside of the fixed connecting plate, specifically located on the outer end face of the main light source mounting part 114; the main light source emitter 232 is positioned and connected inside the main light source housing 231 by the main light source fastener 234; the main light source switch 233 is connected to the outside of the main light source housing 231 and passes through the main light source housing 231 to connect to the main light source emitter 232. The main light source emitter 232 is an LED light source.

[0121] Preferably, the main light source emitting body 232 is an organic electroluminescent material, which has the advantages of large emitting area, wide viewing angle, stable image, and adaptability to working conditions with local acceleration and vibration.

[0122] Given that the radial position is limited, in order to accurately and stably planar limit the assembly 100 relative to the main vision component 2, the lower end of the fixed connecting plate of the support frame 11 of Embodiment 1 of the present invention is further designed with an assembly ear positioning structure on the inner end face of the light source mounting part 114, and an integral positioning surface for the assembly ear is provided on the assembly ear positioning body. This planar positioning can adopt a variety of technical solutions.

[0123] like Figure 4 The first technical solution is shown:

[0124] An integral mounting ear positioning body 117 is integrally provided at one corner of the upper part of the inner end face of the light source mounting part 114 provided at the lower end of the fixed connection plate of the support frame 11. An integral mounting ear positioning surface 1171 is provided on the mounting ear positioning body.

[0125] like Figure 6Another technical solution shown is: the support frame 11 has a deformable structure, becoming a combined support frame 11-1; the combined support frame 11-1 differs from the support frame 11 in that: the upper corner of the inner side face of the light source mounting part 114 provided at the lower end of the fixed connecting plate of the combined support frame 11-1 has an independent positioning body mounting groove 11-11 for the mounting ear; the independent positioning body mounting groove 11-11 has an independent positioning body mounting position 11-111 for the mounting ear. Preferably, the independent positioning body mounting position 11-111 for the mounting ear is a screw hole.

[0126] like Figure 5 As shown, an independent positioning body 15 for the assembly ear is installed at the mounting slot 11-11, and the structure and size of the independent positioning body for the assembly ear are matched with those of the mounting slot 11-11.

[0127] like Figure 7 As shown, the independent positioning body 15 for the mounting ear is provided with an independent positioning surface 151 for the mounting ear; the independent positioning surface 151 for the mounting ear is provided with a fastening position 152 for the independent positioning body for the mounting ear. Preferably, the fastening position 152 for the independent positioning body for the mounting ear is a through hole.

[0128] The mounting ear independent positioning body fastening position 152 is matched with the mounting ear independent positioning body mounting position 11-111. The mounting ear independent positioning body 15 is connected to the mounting ear independent positioning body mounting groove 11-11 of the combined support frame 11-1 by fasteners.

[0129] The integrated positioning body 117 of the mounting ear / the independent positioning body 15 of the mounting ear, as a boss structure, together with the integrated positioning surface 1171 of the mounting ear / the independent positioning surface 151 of the mounting ear, can limit the mounting ear 101 from radial rotation and thus limit the radial position of the assembly 100.

[0130] The integrated positioning surface 1171 of the assembly ear / the independent positioning surface 151 of the assembly ear can be components that match the assembly ear 101 of any shape and structure. The integrated positioning surface 1171 of the assembly ear / the independent positioning surface 151 of the assembly ear and the centering part 242 of the positioning body work together to limit the uniqueness of the position of the assembly ear 101, thereby omnidirectionally limiting the relative positional relationship between the assembly body 100 and the assembly hole system docking visual guidance device of Embodiment 1 of the present invention.

[0131] like Figure 10 As shown, in this embodiment 1, the position of the mounting ear 101 is defined as a plane. Therefore, preferably, the integrated positioning surface 1171 of the mounting ear / the independent positioning surface 151 of the mounting ear is a plane that matches the position of the mounting ear 101, specifically an inclined plane.

[0132] Specifically, in this embodiment 1, the centering part 242 of the positioning body, the inner end face of the light source mounting part 114, and the positioning surface of the mounting ear (integrated positioning surface 1171 of the mounting ear / independent positioning surface 151 of the mounting ear) can ensure that the relative position of the assembly 100 and the assembly hole system docking vision guidance device of this embodiment 1 is stable during the installation process, and the ear hole axis of the mounting ear 101 is omnidirectionally limited to be coaxial with the light of the main vision component 2. The setting of this omnidirectional limiting structure can ensure that the signal transmission component 5 accurately and stably receives the image signals collected by the main vision component 2 and the auxiliary vision component 3, so that the controller 8 can generate accurate displacement signals.

[0133] In this embodiment 1, the outer side of the fixed connection plate is also provided with a vertically penetrating cable mounting groove 16 for the installation and fixing of various cables, including electrical cables. A cable cover 7 is fastened to the cable mounting groove 16; the cable cover 7 can protect the cables inside the cable mounting groove 16.

[0134] like Figure 8 , Figure 10 and Figure 11 As shown, the main camera 21 and the power unit 4 are integrated and installed within the mounting housing unit 6. This arrangement facilitates the miniaturization of the overall structure of the assembly hole-system docking vision guidance device of this embodiment 1, and ensures that the signal transmission component 5 is as close as possible to the main vision component 2 and the auxiliary vision component 3, thereby reducing the signal transmission path.

[0135] Specifically, the main camera 21 is installed inside the mounting housing unit 6 at a position coaxial with the assembly positioning unit 24, and the main camera positioning cylinder 22 is set outside the mounting housing unit 6 coaxially with the main camera 21.

[0136] A coaxial mounting housing main light hole 61 is provided on the mounting housing unit 6 between the main camera 21 and the main camera positioning cylinder 22 for the passage of light from the main light source unit 23.

[0137] The main camera positioning cylinder 22 can protect the lens of the main camera 21 and ensure that there is sufficient distance between the mounting housing unit 6 and the auxiliary vision component 3 to avoid collisions; at the same time, it can also ensure that during the visual guidance of the assembly 200 to the assembly 100, the assembly ear 201 and the assembly ear 101 have a reasonable working space for docking.

[0138] The power unit 4 installed in the housing unit 6 includes a battery unit 41, a boost module 42, a buck module 43, a power switch 44, and a power charging interface 45.

[0139] The boost module 42 boosts the voltage of the battery unit 41 and supplies it to the main vision component 2 and the auxiliary vision component 3; the buck module 43 bucks the voltage of the battery unit 41 and supplies it to the router 51. This power supply configuration with boost and buck modules significantly reduces the number of batteries and the space requirements of high-voltage batteries, while simultaneously meeting the voltage requirements of various components in a small space, thus saving space.

[0140] The assembly hole system docking visual guidance device of Embodiment 1 of the present invention has a compact structure, is easy to use, has a high reusability, and can integrate multiple assembly hole system docking visual guidance devices into one control platform for use. It can be widely used in assembly lines for large product structural components, including aircraft fuselage and wing assembly.

[0141] Example 2

[0142] A visually guided assembly method.

[0143] The visually guided assembly method of Embodiment 2 of the present invention uses the assembly hole system docking visual guidance device of Embodiment 1.

[0144] In this embodiment 2, the assembly 100 is the aircraft fuselage, and the assembly lug 101 is the fuselage hinge lug; the assembly body 200 in this embodiment 2 is the aircraft wing. The aircraft wing is mounted on the carrier unit, and the carrier unit drives the aircraft wing to move towards the aircraft fuselage, completing the assembly of the aircraft wing and the aircraft fuselage.

[0145] In this embodiment 2, the pushing unit 13 is preferably an electric push rod.

[0146] This embodiment 2 involves a location identification code.

[0147] The position identification code functions similarly to a position sensor, enabling it to be recognized and have its position information collected by a vision sensor. In this embodiment 2, the position identification code can be any pattern or solid structure with a clearly identifiable outline that can be captured by the auxiliary camera 31 and recognized and processed by the image processor of the controller 8. The pattern can be a single form or a combination of patterns that are easy to identify; the solid structure can be other parts mounted on the workpiece or a structure integrally formed on the workpiece.

[0148] Preferably, in this embodiment 2, the location identification code is a barcode with a recognizable width, and the barcodes are pasted on the two workpieces to be assembled with the same orientation.

[0149] like Figure 14 The steps of the visually guided assembly method in Embodiment 2 of the present invention are as follows:

[0150] S1. Preparations:

[0151] This includes the preparation of the assembly hole system docking vision guide device, the assembly 100 and the assembled body 200; it also includes the communication connection between the controller 8 and the assembly hole system docking vision guide device and the carrier unit.

[0152] S11. The assembly hole system docking vision guidance device of Example 1 is installed, and its own electrical connection and communication connection are completed, as well as the communication connection between the controller 8 and the carrier unit.

[0153] The electrical and communication connections between the controller 8 and the assembly hole system docking vision guidance device itself include the establishment of a transmission channel for displacement control signals between the controller 8 and the push unit 13, and the establishment of a transmission channel for pressure signals between the controller 8 and the pressure sensor 244.

[0154] S12. The assembly hole system docking visual guidance device of Embodiment 1 is fixedly installed on the assembly 100, and a first position identification code is set on the assembly 100.

[0155] In this embodiment 2, the position identification code is an identifier that is attached to the surface of the workpiece, can be captured by the camera, and can be identified by the controller 8 as distance information.

[0156] S111. The first step of positioning the assembly hole system docking visual guidance device: the ear hole on the first side of the assembly ear 101 of the assembly body 100 is sleeved on the centering part 242 of the positioning body, and the inclined surface of the ear plate on the side of the assembly ear 101 is abutted against the integral positioning surface of the assembly ear to position the planar position and radial position (rotation direction) of the assembly body 100.

[0157] S112. Positioning the assembly hole system docking vision guidance device in the second step: The controller 8 starts the pushing process of the pushing unit 13, so that the main camera 21 on the mounting housing unit 6 slides and moves on the guide rail unit 12 towards the auxiliary camera 31, so that the main camera positioning cylinder 22 gradually abuts against the outer side of the ear hole on the second side of the assembly ear 101 of the assembly body 100, until the pressure sensor 224 received by the controller 8 reaches the rated value, the pushing 13 stops moving and locks to the second end of the support frame 11;

[0158] S113. Mark the first position identification code: Make the first position identification code 1011 on the inclined surface of the upper side ear plate of the assembly ear 101 of the installed assembly 100 according to the design position;

[0159] Preferably, in this embodiment 2, the first position identification code 1011 is marked on the upper surface of the mounting ear 101 of the assembly 100 in the installed state. Specifically, the first position identification code 1011 is the vertical projection line of the central axis of the ear hole of the mounting ear 101 on the upper surface of the mounting ear 101.

[0160] S13. Prepare the assembly 200:

[0161] S131. Adjust the attitude of the assembly 200 and connect the assembly 200 to the carrier unit in the assembly state position.

[0162] S132. Create a second position identification code 2011 at the set position of the assembly ear 201 of the assembly body 200;

[0163] Preferably, in this embodiment 2, the second position identification code 2011 identifies the upper surface of the assembled ear 201 of the assembled body 200 in the installed state. Specifically, the second position identification code 2011 is the vertical projection line of the central axis of the ear hole of the assembled ear 201 on the upper surface of the assembled ear 201.

[0164] S2. Preliminary adjustment of the installation position between assembly 100 and assembled body 200:

[0165] The controller 8 sends a displacement command to the transport unit based on the image data collected by the auxiliary camera 31. The transport unit then drives the assembled body 200 to move at high speed towards the assembled body 100 to make a preliminary adjustment of the assembly position.

[0166] S21. Start the auxiliary camera unit 31 so that the auxiliary camera 31 can acquire the identification code image of the first position identification code 1011 and the second position identification code 2011, and store the identification code image in the router 51 in real time. The antenna 52 transmits the identification code image information to the controller 8. The controller 8 controls the carrier unit to move the assembled body 200 to the assembly 100.

[0167] S221. When the auxiliary camera 31 can only collect the first position identification code 1011, the controller 8 sends a high-speed displacement command to the transport unit, and the transport unit drives the assembled body 200 to move quickly to the assembled body 100.

[0168] S222. When the auxiliary camera 31 can simultaneously acquire the first position identification code 1011 and the second position identification code 2011, the controller 8 issues an instruction to the carrier unit to change the displacement speed of the carrier unit so as to proceed to the next step.

[0169] S3. Precise adjustment of the installation position between assembly 100 and assembled body 200:

[0170] The controller 8 sends a displacement command to the transport unit based on the image data collected by the main camera 21. The transport unit then drives the assembled body 200 to move slowly towards the assembled body 100 to make precise adjustments to the assembly position.

[0171] S31, the controller 8 issues a command to the transport unit to adjust the low-speed displacement of the transport unit; simultaneously, the image processor of the controller 8 simultaneously identifies the first position identification code 1011 and the second position identification code 2011, processes their angle information and endpoint information and transmits it to the displacement solver in real time; the displacement solver calculates the real-time displacement data of the assembled body 200 based on the angle information and endpoint information and issues a displacement command to the transport unit; the transport unit moves according to the displacement command, driving the assembled body 200 to run at low speed towards the assembly 100 and causing the single-ear structure of the assembled ear 201 in this embodiment 2 to gradually enter the double-ear structure of the assembled ear 101 of the assembly 100.

[0172] S32, Controller 8 controls the main vision component 2 to start, and the main camera 21 collects the ear hole edge image information of the inner edge of the ear hole of the assembly ear 101 of the assembly body 100 and the inner edge of the ear hole of the assembly ear 201 of the assembled body 200.

[0173] S33, the image information of the ear canal edge captured by the main camera 21 is stored in the router 51 in real time, and the image information of the ear canal edge is transmitted to the controller 8 by the antenna 52;

[0174] S34, the image processor in the controller 8 processes the received two sets of ear hole edge image information to form the hole position deviation value between the inner edge of the ear hole of the mounting ear 101 and the inner edge of the ear hole of the mounted ear 201.

[0175] S35, the displacement solver in the controller 8 receives the hole position deviation value generated by the image processor and calculates the hole position deviation value into a displacement signal of the assembled body 200; the controller 8 transmits the displacement signal to the transport unit, and the transport unit drives the assembled body 200 to continue to move slowly until the real-time hole position deviation value is equal to zero. At this time, the coaxiality between the inner edge of the ear hole of the assembly ear 101 and the ear hole of the assembled ear 201 meets the assembly requirements; the controller 8 sends a control signal to stop the transport unit from moving.

[0176] S4. Secure the assembly 200 to the assembly 100:

[0177] S41. When S34 is finally completed, the controller 8 starts the withdrawal process of the push unit 13, the push unit 13 withdraws, and drives 6 and its components to move away from the auxiliary camera unit 3.

[0178] Step S41 allows the main camera positioning cylinder 22 to move away from the ear hole of the mounting ear 101 and the mounting ear 201, so that there is room for operation in the subsequent fastening connection.

[0179] The fastener can be locked in the ear hole of the mounting ear 101 and the ear hole of the mounted ear 201;

[0180] S42. Through the ear hole, fasteners are used to lock the mounting ear 101 and the mounted ear 201 to complete the assembly between the mounted body 200 and the assembly body 100.

[0181] This completes the assembly work.

[0182] The vision-guided assembly method in Example 2 is simple, highly automated, safe, and efficient. It is suitable for assembly processes of large workpieces, including the assembly of aircraft wings and fuselages.

[0183] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual guidance device for assembly hole system docking, characterized in that, For connecting the assembly (200) to the assembly (100) via visual guidance; including a vision support assembly (1), a main vision assembly (2), a secondary vision assembly (3), a power unit (4), a communication assembly (5), a mounting housing unit (6), and a controller (8); the communication assembly (5) is connected to the vision support assembly (1); The main vision component (2) includes a main camera (21), a main light source unit (23), and an assembly positioning unit (24); the main camera (21) and the power unit (4) are connected inside the mounting housing unit (6); the assembly positioning unit (24) is a stepped axle structure, including a positioning body mounting part (241) and a positioning body centering part (242) arranged coaxially, and a pressure sensor (244) is provided on the positioning body mounting part (241); The auxiliary vision component (3) and the main light source unit (23) are fixedly connected to the vision support assembly (1); the main camera (21) and the power unit (4) are movably connected to the vision support assembly (1); The visual support assembly (1) includes a support frame (11), a guide rail unit (12), and a push unit (13); the guide rail unit (12) and the push unit (13) are connected to the support frame (11); the support frame (11) is provided with an assembly ear positioning body, the assembly ear positioning body is provided with an assembly ear positioning surface, the inner side of the lower end of the fixed connecting plate of the support frame (11) is provided with a main light source mounting part (114), the assembly ear positioning body is protruding and provided on the inner end face of the main light source mounting part (114), and the assembly ear positioning surface is provided facing the assembly positioning unit (24); The signal transmission component (5) receives image signals from the main vision component (2) and the auxiliary vision component (3). The auxiliary vision component (3) acquires the appearance position relationship, and the main vision component (2) acquires the hole position deviation image and transmits the image signal to the controller (8). The controller (8) generates a displacement signal based on the image signal. The displacement signal can control the push unit (13) and the assembled body (200) to generate displacement. The mounting housing unit (6) is connected below the guide rail unit (12); the pushing unit (13) can drive the mounting housing unit (6) to move along the guide rail unit (12).

2. The assembly hole system docking visual guidance device according to claim 1, characterized in that, The support frame (11) includes a movable clamping plate and a fixed connecting plate.

3. The assembly hole system docking visual guidance device according to claim 2, characterized in that, The movable clamping plate is provided with a push unit mounting position (111), a guide rail mounting groove (112), and an auxiliary camera mounting part (113).

4. The assembly hole system docking visual guidance device according to claim 3, characterized in that, The guide rail unit (12) is installed in the guide rail mounting groove (112); the push unit (13) is installed at the push unit mounting position (111).

5. The assembly hole system docking visual guidance device according to claim 4, characterized in that, The auxiliary camera mounting part (113) is connected to the auxiliary vision component (3).

6. The assembly hole system docking visual guidance device according to claim 4, characterized in that, The auxiliary vision component (3) includes an auxiliary camera (31), an auxiliary camera protective housing (32), and an auxiliary camera light source (33).

7. The assembly hole system docking visual guidance device according to claim 5, characterized in that, The main vision component (2) also includes a main camera positioning cylinder (22); the main camera positioning cylinder (22) is connected to the mounting housing unit (6); the main camera (21), the main camera positioning cylinder (22) and the assembly positioning unit (24) are coaxially arranged.

8. A visually guided assembly method, characterized in that, The assembly process of connecting the workpiece (200) to the assembly (100) is visually guided by the assembly hole system visual guidance device according to any one of claims 1-7.

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