Automatic adjustment and measurement equipment for large structural component assembly reference surface

Abstract

The present application relates to a kind of automatic adjustment and measurement equipment for large structural assembly datum surface, wherein adjustment equipment and binocular vision system and robot scanning measurement system are arranged on both sides of roller conveyor line, transfer tray is transported by roller conveyor line, multiple pressure head assemblies are equipped on the lifting adjusting seat of adjustment equipment, the lower end of pressure head assembly is equipped with liftable pressure sensor, the lower end of pressure sensor is equipped with pressure head, and the side of pressure sensor is equipped with target plate;Transfer tray includes rotating disc and pedestal, and rotating disc edge is equipped with angular positioning indication block, locking top rod and station angular mark, angular positioning indication block is equipped with reference axis zero scale line, the part of pedestal located outside rotating disc is equipped with positioning zero scale line and positioning fixed assembly, photoelectric sensor is equipped on roller conveyor line, and reflecting plate is equipped on the outer wall of rotating disc.The present application can ensure the product positioning accuracy of large structural assembly during measurement, and improve measurement efficiency, precision and automation level.

Description

Technical Field

[0001] This invention relates to the field of automatic assembly technology, specifically to an automatic adjustment and measurement device for the assembly reference surface of large structural components. Background Technology

[0002] The assembly and inspection of large structural components are crucial to the quality of the final product. The assembly reference surface is the starting point for the installation of product parts. For large structural components such as launch vehicle engines, the assembly reference surface is generally referred to as the zero position when it is perpendicular to its axis. Each component is assembled and repaired in sequence when the assembly reference surface is in the zero position. Therefore, the adjustment and high-precision measurement of the zero position of the assembly reference surface are of great significance to ensuring the assembly quality and consistency of the product.

[0003] Traditional methods for adjusting and measuring the assembly reference surface of large structural components such as launch vehicle engines involve first manually adjusting the assembly reference surface to a preliminary perpendicular state with the axis based on experience. Then, large-scale measuring instruments such as laser trackers are used to manually measure the spatial attitude of the axis and the assembly reference surface sequentially. The angular deviation between the assembly reference surface and the axis is then calculated. If the assembly process requirements are not met, the measurement needs to be adjusted again. This approximation-like adjustment and measurement method is cumbersome, inefficient, and requires a high level of skill from the operators. It usually requires multiple adjustments and measurements to achieve a qualified state. In addition, due to the large size of the products, the adjustment and measurement process requires operators to climb to heights for delicate work, which poses safety risks. Therefore, there is an urgent need for an automated equipment to automatically adjust and measure the assembly reference surface of the above-mentioned products to improve the overall assembly efficiency and reduce the uncertainty of human operation. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic adjustment and measurement device for the assembly reference surface of large structural components, which can ensure the product positioning accuracy of large structural components during measurement, and improve measurement efficiency, accuracy and automation level.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An automated adjustment and measurement device for the assembly reference surface of large structural components includes an adjustment device, a roller conveyor line, a transfer tray, a binocular vision system, and a robot scanning and measurement system. The adjustment device is located on one side of the roller conveyor line, while the binocular vision system and robot scanning and measurement system are located on the other side. The transfer tray is used for transport via the roller conveyor line, and the lower end of the large structural component is placed on the transfer tray. The adjustment device includes a lifting adjustment seat, and the lifting adjustment seat is equipped with multiple pressure head assemblies. Each pressure head assembly includes a servo electric cylinder, and a pressure sensor is provided at the power shaft end of the servo electric cylinder. The force sensor has a pressure head at its lower end, a connecting rod on one side of the pressure sensor, and a target plate on the connecting rod. The transfer tray includes a base, a rotating disk, and a positioning and fixing assembly. The rotating disk is rotatably mounted on the base, and the edge of the rotating disk is provided with an angular positioning indicator block, a locking top rod, and a station angular indicator. The angular positioning indicator block is provided with a reference axis zero-point scale line. The portion of the base located outside the rotating disk is provided with a positioning zero-point scale line and a positioning and fixing assembly. A photoelectric sensor is provided on the roller conveyor line, and a reflector plate that cooperates with the photoelectric sensor is provided on the outer wall of the rotating disk.

[0007] The adjustment device includes a bed base, a bed frame, and a lifting drive mechanism. The bed frame is located on the upper end of the bed base. A mounting base is provided on the side of the bed frame near the roller conveyor line. The lifting drive mechanism is located on the mounting base. One end of the lifting adjustment seat is slidably connected to the mounting base and driven to lift by the lifting drive mechanism. A first lifting ring is provided on the lifting adjustment seat. A counterweight guide assembly is provided on the upper end of the bed frame. A counterweight block assembly is provided inside the bed frame, and a second lifting ring is provided on the counterweight block assembly. One end of a steel wire rope is connected to the corresponding first lifting ring, and the other end passes around the corresponding counterweight guide assembly and extends into the bed frame and is connected to the corresponding second lifting ring.

[0008] The counterweight guide assembly includes a mounting base plate, fixed upright plates, and guide wheels. The mounting base plate is fixed to the upper end of the bed frame, and two fixed upright plates are provided on the mounting base plate. The guide wheels are located between the two fixed upright plates, and the two ends of the wheel axle of the guide wheels are respectively installed on the corresponding fixed upright plates. The steel wire rope passes around each guide wheel in sequence and extends into the bed frame.

[0009] The counterweight assembly includes a base plate, guide shafts, a counterweight container, and counterweights. The base plate is fixed within the bed frame. Guide shaft supports are provided at both ends of the base plate, and two guide shafts are respectively vertically installed in their corresponding guide shaft supports. The counterweight container is located between the two guide shafts, and guide limiting sliders are provided on both sides of the counterweight container. The guide limiting sliders have grooves that engage with the guide shafts on the corresponding sides. A second lifting ring is provided on the upper side of the counterweight container. The counterweights are stacked in the counterweight container, and counterweight connecting strips that connect the layers of counterweights sequentially are provided on both sides of the counterweight container. A buffer is provided on the base plate.

[0010] The rotating disk has a centering scale and an outer ring from the inside to the outside. Each centering scale is arranged along the circumference. The upper side of the outer ring has multiple station angular markings along the circumference. The outer wall of the outer ring has marking lines corresponding to each station angular marking. The portion of the angular positioning indicator block located on the upper side of the outer ring has a reference axis zero point scale line. The outer ring has a locking rod for locking the position of the rotating disk.

[0011] The large structural component is placed on a rotating disk and limited by the angular positioning indicator block. The lower edge of the large structural component is placed on each centering scale. The lower end of the large structural component is provided with a reference axis, and the position of the reference axis corresponds to the position of the angular positioning indicator block. The large structural component determines the fine-tuning offset according to the scale reading of each centering scale and adjusts it to a position consistent with the center of the rotating disk. Then, the angular deviation value is determined according to the scale value corresponding to the center line of the reference axis and the zero point scale line of the reference axis. Each station angular indicator corresponds one-to-one with each station unit. After the large structural component is transferred to the corresponding station unit, the rotating disk rotates so that the station angular indicator corresponding to the station unit rotates to the position corresponding to the positioning zero point scale line on the base, and the indicator line corresponding to the station angular indicator rotates to the position of the scale line corresponding to the angular deviation value on the positioning zero point scale line.

[0012] The lower side of the rotating disk is rotatably connected to the base via a slewing support bearing. The outer ring of the slewing support bearing is fixedly connected to the base, and the inner ring of the slewing support bearing is fixedly connected to the rotating disk. In addition, multiple bearing seats are provided on the lower side of the rotating disk along the circumferential direction, and roller bearings are provided on the bearing seats.

[0013] The positioning and fixing assembly includes a stop block, a sliding block, a slide base, and a fixing seat. The fixing seat is fixed on the base, and the slide base is fixed on the fixing seat. The slide base has upright plates on both sides, and the sliding block is located between the two upright plates. The sliding block has sliding grooves on both sides. The upright plates have guide screws that are inserted into the corresponding sliding grooves on the sliding block. The stop block is located at the front end of the sliding block, and the rear side of the sliding block has a wedge-shaped tail stop. The rear end of the slide base has a sloping groove. An elbow clamp is located on either upright plate. After the sliding block moves forward into position, the wedge-shaped tail stop is inserted into the sloping groove, and the sliding block is clamped by the elbow clamp.

[0014] The binocular vision system includes a fixed column, an electric cylinder, and a binocular vision positioning device. The electric cylinder is located on the fixed column, and the binocular vision positioning device is located on the electric cylinder and is driven to rise and fall by the electric cylinder.

[0015] The robot scanning and measurement system includes a six-axis robot, a connecting arm, and a scanning and measurement head. The lower end of the six-axis robot is mounted on a robot base. The free end of the six-axis robot is connected to the rear end of the connecting arm via a quick-connect coupling. The front end of the connecting arm is connected to the scanning and measurement head. The scanning and measurement head is housed in a protective cover. The upper end of the protective cover is fixed to the connecting arm. The front end of the connecting arm is also equipped with an anti-collision sensor.

[0016] A calibration rod fixing mechanism is provided on one side of the roller conveyor line. The calibration rod fixing mechanism includes a mounting column, a movable frame, and a calibration rod. The mounting column has a positioning support plate at its top, and the positioning support plate is fork-shaped. The movable frame is embedded in the positioning support plate. The upper end of the movable frame has a tool-side quick-change connector that docks with the free end of the six-axis robot. The lower part of the movable frame has a clamp for fixing the calibration rod. The two ends of the crossbar at the upper end of the mounting column have support limiting plates for auxiliary support of the calibration rod.

[0017] The adjustment device is provided with a global coordinate system reference datum on one side. The global coordinate system reference datum includes a fixed column, a vertical target plate on the fixed column, and multiple horizontal target plates on the vertical target plate. Coordinate system target points are provided on both the vertical and horizontal target plates.

[0018] The advantages and positive effects of this invention are as follows:

[0019] 1. This invention utilizes a robotic scanning measurement system and a binocular vision system to perform automated non-contact measurement of products. By adjusting the movement of each pressure head assembly, the lower end of each pressure head forms a plane perpendicular to the axial direction of the large structural component. Then, it presses down to fit against the assembly reference surface, thereby adjusting the zero-position state of the assembly reference surface. The adjustment is fast and accurate. Furthermore, the adjustment device of this invention is equipped with a counterweight block assembly and a counterweight guide assembly to balance the weight of the lifting adjustment seat. This reduces the load on the lifting drive mechanism and ensures that the projection of the overall center of gravity of the device on the ground is within the contact area between the device base and the ground. In addition, it can prevent the pressure adjustment unit assembly from falling in abnormal situations such as power failure or coupling failure, thus improving the safety of the device.

[0020] 2. The binocular vision system of this invention can be raised and lowered, thereby expanding the measurement range of the binocular vision system and meeting the measurement needs of large-size products. This invention also provides a global coordinate system reference datum, on which target points are set for establishing the global coordinate system. The binocular vision system can identify and read the position of the target points, thereby unifying the measurement coordinate system with the global coordinate system. This ensures that the coordinate system does not change after the binocular vision system changes position, thus expanding the measurement coverage of the binocular vision system. At the same time, this invention provides a calibration rod fixing mechanism, which can periodically calibrate the binocular vision system to maintain measurement accuracy.

[0021] 3. This invention incorporates multiple angular markers on the rotating disk of the transfer pallet, based on the angular positions required for automated measurement or assembly of large structural components within different station units. When a large structural component enters its corresponding station unit, the operator simply rotates the rotating disk and aligns the angular marker corresponding to that station unit with the zero-point scale line on the base. This operation is simple and convenient. Furthermore, when the large structural component initially rests on the rotating disk, this invention uses the reference axis at the lower end of the large structural component as a reference. Based on the deviation of the reference axis centerline from the zero-point scale line, the compensation angle for subsequent operations is determined. Thus, when the large structural component enters its corresponding station unit, in addition to rotating the rotating disk to align the corresponding angular marker with the zero-point scale line on the base, the operator also needs to align the marker line corresponding to that angular marker with the same deviation angle scale line on the zero-point scale line to compensate for the angle, thereby ensuring accurate positioning.

[0022] 4. When a large structural component is initially placed on the rotating disk, the present invention utilizes various centering scales to achieve precise centering of the large structural component on the rotating disk. After the large structural component is initially placed, its lower edge is placed on various centering scales distributed along the circumference. Then, the operator can calculate the offset of the large structural component based on the scale readings of the lower edge of the large structural component on each centering scale, and fine-tune the position of the large structural component based on the offset to make its center consistent with the center of the rotating disk.

[0023] 5. The present invention provides an angular positioning indicator block on the rotating disk of the transfer pallet, and the angular positioning indicator block is provided with a reference axis zero point scale line. When the large structural component is initially placed, its lower end cooperates with the angular positioning indicator block to achieve preliminary positioning. Since the position of the reference axis corresponds to the position of the angular positioning indicator block, the reference axis can directly point to the reference axis zero point scale line after the large structural component is placed, thereby facilitating the operator to read the value. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention.

[0025] Figure 2 for Figure 1 A schematic diagram of the structure of the adjustment equipment.

[0026] Figure 3 for Figure 2 Schematic diagram of the intermediate pressure head assembly.

[0027] Figure 4 for Figure 2 A schematic diagram of the structure of the counterweight guide assembly.

[0028] Figure 5 for Figure 2 A schematic diagram of the structure of the middle counterweight assembly.

[0029] Figure 6 for Figure 1 A schematic diagram of the structure of a binocular vision system.

[0030] Figure 7 for Figure 1 A schematic diagram of the structure of the robot scanning and measurement system.

[0031] Figure 8 for Figure 1 A schematic diagram of the structure of the global coordinate system reference datum.

[0032] Figure 9 for Figure 1 A schematic diagram of the calibration rod fixing mechanism.

[0033] Figure 10 for Figure 1Structural diagram of medium and large structural components.

[0034] Figure 11 for Figure 1 A schematic diagram illustrating the coordination of the intermediate roller conveyor line, transfer pallets, and large structural components.

[0035] Figure 12 for Figure 11 A schematic diagram illustrating the working relationship between transit pallets and large structural components.

[0036] Figure 13 for Figure 12 Schematic diagram of the structure of the transit pallet.

[0037] Figure 14 for Figure 13 Cross-sectional view of a transit pallet.

[0038] Figure 15 for Figure 13 A schematic diagram of the positioning and fixing component.

[0039] Figure 16 for Figure 13 Top view of the transit pallet.

[0040] Figure 17 for Figure 16 Diagram of the usage status of transit pallets Figure 1 ,

[0041] Figure 18 for Figure 17 Enlarged view of point I in the image.

[0042] Figure 19 for Figure 13 Diagram of the usage status of transit pallets Figure 2 ,

[0043] Figure 20 for Figure 19 Enlarged view of point A in the image

[0044] Wherein, 1 is the base plate; 2 is the adjustment device; 21 is the bed base; 22 is the bed frame; 23 is the mounting base plate; 231 is the lifting limit block; 232 is the lifting slide rail; 24 is the lifting drive mechanism; 241 is the lifting drive motor; 242 is the lifting drive screw; 25 is the lifting adjustment seat; 251 is the first lifting ring; 26 is the pressure head assembly; 261 is the servo electric cylinder; 262 is the pressure sensor; 263 is the pressure head; 264 is the connecting rod; 265 is the target plate fixing rod; 266 is the target plate; 267 is the target point; 27 is the counterweight assembly; 271 is... Base plate; 272 is guide shaft support; 273 is guide shaft; 274 is guide limit slider; 275 is counterweight container; 276 is counterweight connecting strip; 277 is buffer; 278 is second lifting ring; 279 is counterweight block; 28 is counterweight guide assembly; 281 is mounting base plate; 282 is fixed upright plate; 283 is wheel axle; 284 is wire rope; 285 is guide wheel; 3 large structural component products; 301 is support part; 302 is rotating head end; 303 is rotary shaft; 304 is angular positioning reference shaft; 305 is assembly reference surface; 4 is roller conveyor. 401 is the conveyor belt; 402 is the conveyor belt baffle; 403 is the guide plate; 404 is the anti-tipping strip; 405 is the photoelectric sensor; 5 is the transfer tray; 501 is the base; 5011 is the positioning zero point scale line; 502 is the rotary disk; 5021 is the centering scale; 5022 is the outer ring; 50221 is the marking line; 5023 is the bearing seat; 5024 is the roller bearing; 503 is the reflector; 504 is the positioning and fixing assembly; 5041 is the flexible pad; 5042 is the stop block; 5043 is the elbow clamp; 5044 is the sliding block; 5045 is... Wedge-shaped tail stop; 5046 is a handle; 5047 is a slide base; 50471 is a vertical plate; 5048 is a placement rack; 5049 is a fixed base; 50410 is a handle; 50411 is a guide screw; 505 is an angular positioning indicator block; 5051 is a zero-point scale line of the reference axis; 506 is a slewing support bearing; 50504 is the outer ring of the bearing; 5062 is the inner ring of the bearing; 507 is a rotating handle; 508 is a locking rod; 509 is a station angular indicator; 5091 is the D1 station angular indicator; 5092 is the D2 station angular indicator; 5093... 5094 is D3 station angle direction I; 5095 is D3 station angle direction II; 5096 is D3 station angle direction III; 6 is binocular vision system; 601 is fixed column; 602 is electric cylinder; 603 is binocular vision positioning device; 7 is robot scanning and measurement system; 701 is robot base; 702 is six-axis robot; 703 is anti-collision sensor; 704 is protective cover; 705 is scanning and measurement head; 706 is quick-change connector; 707 is connecting arm; 8 is global coordinate system reference datum; 801 is fixed column; 802 is vertical target plate; 803 is horizontal target plate; 804 is coordinate system target point; 9 is calibration rod fixing mechanism; 901 is mounting and fixing column; 902 is positioning support plate; 903 is moving frame; 904 is tool side quick-change connector;905 is the clamp; 906 is the support and limiting plate; 907 is the calibration rod; 10 is the control system. Detailed Implementation

[0045] The invention will now be described in further detail with reference to the accompanying drawings.

[0046] like Figure 10 As shown, the large structural component product 3 targeted by the present invention includes a support part 301 and a rotating head end 302, wherein the rotating head end 302 is rotatably connected to the upper end of the support part 301 via a rotary shaft 303, and an angular positioning reference shaft 304 is provided on one side of the lower end of the support part 301, and the upper surface of the rotating head end 302 is an assembly reference surface 305.

[0047] like Figures 1-9 and Figures 11-20 As shown, the present invention includes an adjustment device 2, a roller conveyor line 4, a transfer tray 5, a binocular vision system 6, and a robot scanning and measurement system 7. The adjustment device 2 is located on one side of the roller conveyor line 4, and the binocular vision system 6 and the robot scanning and measurement system 7 are located on the other side of the roller conveyor line 4. The transfer tray 5 is transported through the roller conveyor line 4, and the lower end of the support part 301 of the large structural component product 3 is placed on the transfer tray 5.

[0048] like Figures 2-5 As shown, the adjustment device 2 includes a lifting adjustment seat 25, and the lifting adjustment seat 25 is provided with a plurality of pressure head assemblies 26, such as... Figure 3 As shown, the pressure head assembly 26 includes a servo electric cylinder 261, a pressure sensor 262 is provided at the power shaft end of the servo electric cylinder 261, a pressure head 263 is provided at the lower end of the pressure sensor 262, a connecting rod 264 is provided on one side of the pressure sensor 262, and a target plate 266 is provided on the connecting rod 264. When the present invention is in operation, the binocular vision system 6 moves to a high position and tracks the position of the pressure head 263 of each pressure head assembly 26 through the tracking target plate 266. Then, the control system 10 calculates the movement amount of each pressure head 263. Then, each servo electric cylinder 261 starts to drive each pressure head 263 to move according to the calculated movement amount so that the plane formed by the lower end of each pressure head 263 is perpendicular to the axis of the support part 301. Then, the lifting adjustment seat 25 descends so that each pressure head 263 contacts the assembly reference surface 305 on the upper side of the rotating head end 302. When the pressure sensors 262 in the four sets of pressure head assemblies 26 all reach the set contact force value, the zero position posture of the assembly reference surface 305 is adjusted and fixed by the operator.

[0049] like Figure 3As shown, in this embodiment, a target plate fixing rod 265 is provided on the lower side of the target plate 266, and the lower end of the target plate fixing rod 265 is fixedly connected to the connecting rod 264. The target plate 266 is provided with target points 267 for tracking by the binocular vision system 6.

[0050] like Figures 2-5 As shown, in this embodiment, the adjustment device 2 includes a bed base 21, a bed frame 22, and a lifting drive mechanism 24. The bed frame 22 is located on the upper end of the bed base 21. The bed frame 22 is provided with a mounting base 23 on the side near the roller conveyor line 4. The lifting drive mechanism 24 is located on the mounting base 23. One end of the lifting adjustment seat 25 is slidably connected to the mounting base 23 and is driven to lift by the lifting drive mechanism 24. In this embodiment, the lifting drive mechanism 24 includes a lifting drive motor 241, a lifting drive screw 242, and a lifting screw nut. The lifting drive motor 241 and the lifting drive screw 242 are both mounted on the mounting base 23. The lifting drive screw 242 is driven to rotate by the lifting drive motor 241. The lifting screw nut is fixed to the end of the lifting adjustment seat 25 and is fitted onto the lifting drive screw 242. In addition, the mounting base 23 has lifting slide rails 232 on both sides. The end of the lifting adjustment seat 25 is provided with a lifting slider that cooperates with the lifting slide rails 232. The lower end of the mounting base 23 is provided with a lifting limit block 231 that limits the downward displacement of the lifting adjustment seat 25.

[0051] like Figures 2-5 As shown, in this embodiment, the lifting adjustment seat 25 is provided with a first lifting ring 251, the upper end of the bed frame 22 is provided with a counterweight guide assembly 28, the bed frame 22 is provided with a counterweight block assembly 27 inside, and the counterweight block assembly 27 is provided with a second lifting ring 278. One end of the steel wire rope 284 is connected to the corresponding first lifting ring 251, and the other end passes around the corresponding counterweight guide assembly 28 and extends into the bed frame 22 and is connected to the corresponding second lifting ring 278.

[0052] like Figure 4 As shown, in this embodiment, the counterweight guide assembly 28 includes a mounting base plate 281, a fixed upright plate 282, and a guide wheel 285. The mounting base plate 281 is fixed to the upper end of the bed frame 22. Two fixed upright plates 282 are provided on the mounting base plate 281. The guide wheel 285 is located between the two fixed upright plates 282. The two ends of the axle 283 of the guide wheel 285 are respectively installed on the corresponding fixed upright plate 282. The steel wire rope 284 passes through the V-shaped groove on each guide wheel 285 in sequence and extends into the bed frame 22.

[0053] like Figure 5As shown, in this embodiment, the counterweight assembly 27 includes a base plate 271, a guide shaft 273, a counterweight container 275, and a counterweight 279. The base plate 271 is fixed inside the bed frame 22. Guide shaft supports 272 are provided at both ends of the base plate 271, and two guide shafts 273 are respectively vertically installed in the corresponding guide shaft supports 272. The counterweight container 275 is disposed between the two guide shafts 273, and guide limiting sliders 274 are provided on both sides of the counterweight container 275. The guide limiting sliders 274 are provided with grooves that cooperate with the guide shafts 273 on the corresponding sides. A second lifting ring 278 is provided on the upper side of the counterweight container 275, and the counterweight 279 is disposed in the counterweight container 275. In this embodiment, the counterweights 279 are stacked in the counterweight container 275, and counterweight connecting strips 276 are provided on both sides of the counterweight container 275 to connect the layers of counterweights 279 sequentially. Each layer of counterweights 279 has a connecting hole at its end that connects to the connecting strip 276. In addition, a buffer 277 is provided on the bottom plate 271 to abut against the lower side of the counterweight container 275 to achieve a buffering effect. The buffer 277 is a technology known in the art and is a commercially available product.

[0054] like Figure 6 As shown, in this embodiment, the binocular vision system 6 includes a fixed column 601, an electric cylinder 602, and a binocular vision positioning device 603. The electric cylinder 602 is mounted on the fixed column 601, and the binocular vision positioning device 603 is mounted on the electric cylinder 602 and driven to rise and fall by the electric cylinder 602. It also tracks the position of the pressure head 263 of each pressure head assembly 26 through a tracking target plate 266. Both the electric cylinder 602 and the binocular vision positioning device 603 are technologies known in the art and are commercially available products.

[0055] like Figure 1 As shown, the large structural component product 3 is placed on the transfer pallet 5, and then the roller conveyor line 4 transports the transfer pallet 5 to the working position. The transfer pallet 5 needs to be positioned and adjusted to ensure measurement accuracy.

[0056] like Figures 11-20As shown, in this embodiment, the transfer tray 5 includes a base 501, a rotating disk 502, and a positioning and fixing assembly 504. The rotating disk 502 is rotatably mounted on the base 501, and the edge of the rotating disk 502 is provided with a centering scale 5021 and an outer ring portion 5022 from the inside to the outside. Each centering scale 5021 is arranged along the circumferential direction. The upper side of the outer ring portion 5022 is provided with multiple station position angular markers 509 along the circumferential direction. The outer wall of the outer ring portion 5022 is provided with marker lines 50221 corresponding to each station position angular marker 509. The rotating disk 502 is also provided with an angular positioning indicator block 505 on its edge, and the portion of the angular positioning indicator block 505 located on the upper side of the outer ring portion 5022 is provided with a reference axis zero point scale line 5051. The outer ring portion 5022 is provided with a locking top rod 508 for locking the position of the rotating disk 502. Each positioning and fixing component 504 is provided on the base 501 and distributed along the circumferential direction on the outside of the rotating disk 502. The base 501 is provided with a positioning zero point scale line 5011, and the positioning zero point scale line 5011 is also provided on the outside of the rotating disk 502.

[0057] In operation, the lower end of the large structural component product 3 is placed on the rotating disk 502, and the angular positioning reference axis 304 of the lower end of the large structural component product 3 is placed on the angular positioning indicator block 505 to achieve preliminary angular positioning of the large structural component product 3. The lower edge of the large structural component product 3 is positioned on various centering scales 5021 distributed along the circumferential direction. Then, the operator calculates the offset of the large structural component product 3 based on the scale readings of the lower edge of the large structural component product 3 on each centering scale 5021, and fine-tunes the large structural component product 3 according to this offset. The structural component product 3 is positioned so that its center is aligned with the center of the rotating disk 502. Then, the operator tightens the locking rod 508 to lock the rotational freedom of the rotating disk 502. The large structural component product 3 is locked by attaching the various positioning and fixing components 504 to the lower end of the large structural component product 3. At this time, the operator can determine the angle deviation value according to the corresponding scale value on the zero point scale line 5051 of the reference axis 304 center line, and then determine the compensation angle for subsequent operations. Then, the large structural component product 3 and the transfer pallet 5 are placed on the roller conveyor line 4 and transported to the working position.

[0058] Each station angle indicator 509 on the rotary disk 502 corresponds one-to-one with each station unit that the large structural component product 3 will pass through. Therefore, when the large structural component product 3 is transferred to the working position, the operator loosens the locking rod 508 to unlock the rotary disk 502 so that it can rotate freely. Then, the operator rotates the rotary disk 502 according to the station angle indicator 509 corresponding to the station unit of the working position, so that the station angle indicator 509 rotates to the position corresponding to the positioning zero point scale line 5011 on the base 501. Then, the operator continues to rotate the rotary disk 502 so that the indicator line 50221 corresponding to the station angle indicator 509 rotates to the scale line position on the positioning zero point scale line 5011 corresponding to the aforementioned determined angle deviation value. After the above adjustment is completed, the operator retightens the locking rod 508 to lock the rotary disk 502, and then the relevant equipment is started to begin the measurement operation.

[0059] like Figures 13-14 As shown, in this embodiment, the lower side of the rotating disk 502 is rotatably connected to the base 501 via a slewing support bearing 506. The outer ring 5061 of the slewing support bearing 506 is fixedly connected to the base 501, and the inner ring 5062 of the slewing support bearing 506 is fixedly connected to the rotating disk 502. In addition, a plurality of bearing seats 5023 are provided on the lower side of the rotating disk 502 along the circumferential direction, and roller bearings 5024 are provided on the bearing seats 5023 to roll along the upper surface of the base 501.

[0060] like Figure 15As shown, in this embodiment, the positioning and fixing component 504 includes a stop block 5042, a sliding block 5044, a slide base 5047, and a fixing seat 5049. The fixing seat 5049 is fixed on the base 501, the slide base 5047 is fixed on the fixing seat 5049, the sliding block 5044 is slidably connected to the slide base 5047, the stop block 5042 is located at the front end of the sliding block 5044, the sliding block 5044 has a wedge-shaped tail stop 5045 at its rear side, and the slide base 5047 has a sloping groove at its tail. In operation, the operator first drives the sliding block 5044 forward to make the stop block 5042 fit against the large structural component product 3. Then, the wedge-shaped tail stop 5045 is inserted into the inclined groove at the tail of the slide base 5047. When the wedge-shaped tail stop 5045 is inserted into the inclined groove, the lower inclined surface of the wedge-shaped tail stop 5045 interacts with the inclined groove to generate a squeezing force, ensuring that the stop block 5042 fits tightly against the lower end of the large structural component product 3. This invention designs the inclination angle of the lower inclined surface of the wedge-shaped tail stop 5045 and the inclined groove through force analysis calculations to ensure that the... The horizontal component of the static friction force generated between the inclined surface at the lower end of the wedge-shaped tail stop 5045 and the inclined groove of the slide base 5047 is greater than its vertical component, that is, the wedge-shaped tail stop 5045 can achieve self-locking by friction. In addition, the slide base 5047 is provided with an elbow clamp 5043. After the sliding block 5044 moves into place, it is further fixed by applying a vertical downward force through the elbow clamp 5043. The elbow clamp 5043 is a technology known in the art and is a commercially available product. For example, a suitable model of elbow clamp sold by Dongguan Jiagang Electromechanical Technology Development Co., Ltd. can be used.

[0061] like Figure 15 As shown, in this embodiment, the slide base 5047 has upright plates 50471 on both sides, and the sliding block 5044 is disposed between the two upright plates 50471. The sliding block 5044 has sliding grooves on both sides, and the upright plates 50471 have guide screws 50411. The guide screws 50411 are inserted into the corresponding sliding grooves on the sliding block 5044 to achieve relative sliding between the sliding block 5044 and the slide base 5047. The elbow clamp 5043 is installed on the corresponding upright plate 50471. In this embodiment, the upper side of the sliding block 5044 is provided with a handle 50410 to facilitate the operator's forward and backward movement of the sliding block 5044. In this embodiment, the upper end of the wedge-shaped tail stop 5045 is provided with a handle 5046 to facilitate inserting the wedge-shaped tail stop 5045 into the inclined groove or removing the wedge-shaped tail stop 5045 from the inclined groove. The tail end of the fixing base 5049 is provided with a placement rack 5048, so that the wedge-shaped tail stop 5045 can be removed and placed on the placement rack 5048 when not in operation. In this embodiment, the stop block 5042 is provided with a flexible pad 5041 to contact the large structural component product 3 to avoid rigid contact between them.

[0062] like Figure 16 As shown, in this embodiment, the station angular markers 509 include D1 station angular marker 5091, D2 station angular marker 5092, D3 station angular marker I 5093, D3 station angular marker II 5094, and D3 station angular marker III 5095. These are all set according to the angular positions required for automated measurement or assembly operations of the large structural component product 3 in different station units. The D3 station includes three angular positions, that is, the three station angular markers 509 are set accordingly: D3 station angular marker I 5093, D3 station angular marker II 5094, and D3 station angular marker III 5095.

[0063] like Figure 13 As shown, the rotating disk 502 is provided with two sets of locking rods 508. The locking rods 508 are threadedly connected to the rotating disk 502. The upper end of the locking rod 508 is provided with a rotating handle 507. When the angular position of the rotating disk 502 is determined, the operator screws the rotating handle 507 to tighten the locking rod 508 so that its lower end abuts against the upper plane of the steel structure base 501, thereby locking the rotating disk 502 and the steel structure base 501. In addition, in this embodiment, the lower end of the locking rod 508 is provided with a friction block to increase the locking friction with the base 501.

[0064] like Figures 11-12 As shown, a photoelectric sensor 405 is provided on the roller conveyor line 4, and a reflector plate 503 is provided on the outer wall of the outer ring portion 5022 of the rotating disk 502. When the rotating disk 502 completes the above adjustment, the photoelectric sensor 405 detects the reflected signal of the reflector plate 503 on the rotating disk 502 and then determines that the rotating disk 502 has rotated to the correct position.

[0065] like Figure 11 As shown, in this embodiment, the roller conveyor line 4 is provided with multiple rollers 401 for transmission. A tail conveyor line baffle 402 is provided at the end of the roller conveyor line 4 to limit the forward displacement of the transfer tray 5. Guide plates 403 and anti-tipping strips 404 are provided on both sides of the roller conveyor line 4 to limit the left and right displacement of the transfer tray 5. A photoelectric sensor 405 is provided on the anti-tipping strip 404 on either side. The roller conveyor line 4 is a technology known in the art and is a commercially available product.

[0066] In operation, the robot scanning and measurement system 7, in conjunction with the binocular vision positioning system 6, scans the large structural component product 3, such as... Figure 7As shown, in this embodiment, the robot scanning and measurement system 7 includes a six-axis robot 702, a connecting arm 707, and a scanning and measuring head 705. The lower end of the six-axis robot 702 is mounted on a robot base 701. The free end of the six-axis robot 702 is connected to the rear end of the connecting arm 707 via a quick-connect coupling 706. The front end of the connecting arm 707 is connected to the scanning and measuring head 705. The scanning and measuring head 705 is housed in a protective cover 704, the upper end of which is fixed to the connecting arm 707. The front end of the connecting arm 707 is also equipped with an anti-collision sensor 703 to prevent collisions with the product. The six-axis robot 702, quick-connect coupling 706, scanning and measuring head 705, and anti-collision sensor 703 are all technologies known in the art and are commercially available products.

[0067] like Figure 1 As shown, to facilitate the establishment of the coordinate system, a global coordinate system reference datum 8 is provided on one side of the bed frame 22 of the adjustment device 2, such as... Figure 8 As shown, in this embodiment, the global coordinate system reference datum 8 includes a fixed column 801, a vertical target plate 802 is provided on the fixed column 801, a plurality of horizontal target plates 803 are provided on the vertical target plate 802, and coordinate system target points 804 are provided on both the vertical target plate 802 and the horizontal target plates 803.

[0068] like Figure 1 As shown, a calibration rod fixing mechanism 9 is provided on one side of the roller conveyor line 4, such as... Figure 9 As shown, the calibration rod fixing mechanism 9 includes a mounting and fixing column 901, a moving frame 903, and a calibration rod 907. The mounting and fixing column 901 has a positioning support plate 902 at its top, and the positioning support plate 902 is fork-shaped. The moving frame 903 is embedded in the positioning support plate 902. The upper end of the moving frame 903 has a tool-side quick-change connector 904, and the lower end of the moving frame 903 has a clamp 905 for fixing the calibration rod 907. The two ends of the crossbar portion at the upper end of the fixing column 901 have support limiting plates 906 for auxiliary support of the calibration rod 907. The tool-side quick-change connector 904 can quickly dock with the end of the six-axis robot 702. Then, the six-axis robot 702 moves the moving frame 903 together with the calibration rod 907 and uses the calibration rod 907 to calibrate the binocular vision device 603 at the set points.

[0069] like Figure 1 As shown, each device can be mounted on the same base plate 1 for easy overall movement, or mounted on the workshop floor.

[0070] The working principle of this invention is as follows:

[0071] The present invention includes the following steps in operation:

[0072] Step 1: Place the lower end of the large structural component product 3 on the rotating disk 502, and place the angular positioning reference axis 304 of the lower end of the large structural component product 3 on the angular positioning indicator block 505 to achieve the initial angular positioning of the large structural component product 3.

[0073] Step 2: After the large structural component product 3 is placed, the lower edge of the large structural component product 3 is placed on each centering scale 5021 distributed along the circumference. The offset of the large structural component product 3 is calculated based on the scale reading of the lower edge of the large structural component product 3 on each centering scale 5021, and the position of the large structural component product 3 is finely adjusted according to the offset to make its center consistent with the center of the rotating disk 502.

[0074] Specifically, such as Figures 17-18 As shown, the four centering scales 5021 set on the rotating disk 502 are defined as I, II, III, and IV respectively in a counterclockwise direction. I and III are arranged opposite each other, and the line connecting them is defined as the X-axis. II and IV are arranged opposite each other, and the line connecting them is defined as the Y-axis. When the large structural component product 3 is positioned on the rotating disk 502, as shown... Figure 18 As shown, the lower edge of the large structural component product 3 will form corresponding readings on four centering scales 5021. In this embodiment, after the lower edge of the large structural component product 3 is positioned on the rotating disk 502, the reading at point I is 25, the reading at point II is 21, the reading at point III is 25, and the reading at point IV is 29. At this time, the positioning of the large structural component product 3 on the rotating disk 502 is inaccurate, and it is necessary to move the corresponding displacement according to the above readings to complete the centering. The displacement on the X-axis is XL, and the displacement on the Y-axis is YL. According to the above readings, we can obtain:

[0075] That is, no movement is required on the X-axis;

[0076] That is, move 4mm in the positive direction of the Y-axis to complete the centering.

[0077] Step 3: Determine the angle deviation value based on the corresponding scale value on the reference axis 304 center line at the lower end of the large structural component product 3 and the reference axis zero point scale line 5051, and then determine the compensation angle for subsequent operations.

[0078] When the large structural component product 3 is positioned, the position of its lower reference axis 304 corresponds to the position of the angular positioning indicator block 505 set on the rotating disk 502. Once the center of the large structural component product 3 aligns with the center of the rotating disk 502, as follows... Figure 20 As shown, if the reference axis 304 at the lower end of the large structural component product 3 corresponds to the "-2" scale line on the reference axis zero point scale line 5051, this is the angular deviation value.

[0079] Step 4: The operator tightens the locking rod 508 to lock the rotational freedom of the rotating disk 502, and locks the large structural component product 3 by attaching each positioning and fixing component 504 to the lower end of the large structural component product 3. Then, the transfer pallet 5 together with the large structural component product 3 is placed on the roller conveyor line 4 and sent to the working position by the roller conveyor line 4.

[0080] Step 5: After the transfer pallet 5 is moved into place, the operator loosens the locking rod 508 to unlock the rotating disk 502 and allow it to rotate. Then, the operator rotates the rotating disk 502 according to the station angle corresponding to the station unit of this working position towards the marker 509, and so on. Figure 20 The position is rotated to the position corresponding to the zero-point scale line 5011 on the base 501, as shown by the angular marker 509.

[0081] Step Six: The operator continues to rotate the rotary table 502 until the marker line 50221 corresponding to the station's angular marker 509 rotates to the position on the zero-point scale line 5011 that corresponds to the angular deviation value determined in Step Three, i.e., as shown in the figure. Figure 20 As shown, when this embodiment moves to the D3 station unit and needs to be adjusted to the second angular position, in addition to aligning the D3 station angular marker II 904 with the positioning zero-point scale line 5011, its corresponding marker line 50221 also needs to correspond to the "-2" mark on the positioning zero-point scale line 5011 to compensate for the angular deviation when the large structural component product 3 is initially placed. Furthermore, as... Figure 11 As shown, a reflector plate 503 is provided on the outer wall of the outer ring portion 5022 of the rotary disk 502. When the photoelectric sensor 405 on the roller conveyor line 4 detects the reflected signal of the reflector plate 503 on the rotary disk 502, it is determined that the rotary disk 502 has rotated into position. Then, the operator tightens the locking rod 508 to lock the rotary disk 502, and locks the large structural component product 3 by attaching each positioning and fixing component 504 to the lower end of the large structural component product 3.

[0082] Step 7: The binocular vision positioning system 6 moves to a low position, and the robot scanning and measurement system 7 automatically measures the axis of the support part 301 of the large structural component product 3 and feeds it back to the control system 10.

[0083] Step 8: The binocular vision system 6 moves to a high position and tracks the position of the pressure head 263 of each pressure head assembly 26 through the tracking target plate 266. Then, the control system 10 calculates the movement amount of each pressure head 263. Then, each servo electric cylinder 261 starts to drive each pressure head 263 to move according to the calculated movement amount so that the plane formed by the lower end of each pressure head 263 is perpendicular to the axis of the support part 301. Then, the lifting adjustment seat 25 descends so that each pressure head 263 contacts the assembly reference surface 305 on the upper side of the rotating head end 302. When the pressure sensors 262 in the four sets of pressure head assemblies 26 all reach the set contact force value, the zero position posture of the assembly reference surface 305 is adjusted and fixed by the operator.

[0084] Step 9: Adjust device 2 back to its initial position. The robot scanning and measurement system 7 scans the posture of the assembly reference surface 305 and calculates the angle with the axis of the support part 301. It then determines whether the posture adjustment is qualified. After the assembly reference surface 305 is qualified, each device returns to its initial position. If the adjustment is not qualified, repeat the above steps 7 to 8.

[0085] Steps seven to nine above are well-known technologies in this field, and can be found in Chinese invention patent CN114485486B.

[0086] In addition, the binocular vision system 6 needs to be calibrated regularly to maintain measurement accuracy. During calibration, the six-axis robot 702 of the robot scanning measurement system 7 picks up the calibration rod 907 on the calibration rod fixing mechanism 9 through a quick-change connector and calibrates the binocular vision device 603 according to the set points.

Claims

1. An automatic adjustment and measurement equipment for aligning a reference surface for assembly of large structural components, characterized in that: The device comprises an adjusting device (2), a roller conveying line (4), a transfer tray (5), a binocular vision system (6) and a robot scanning measurement system (7), wherein the adjusting device (2) is arranged on one side of the roller conveying line (4), the binocular vision system (6) and the robot scanning measurement system (7) are arranged on the other side of the roller conveying line (4), the transfer tray (5) is conveyed through the roller conveying line (4), and the lower end of the large structural product (3) is arranged on the transfer tray (5); the adjusting device (2) comprises a lifting adjusting seat (25), and a plurality of pressure head assemblies (26) are arranged on the lifting adjusting seat (25); the pressure head assembly (26) comprises a servo electric cylinder (261), a pressure sensor (262) is arranged at the power shaft end of the servo electric cylinder (261), a pressure head (263) is arranged at the lower end of the pressure sensor (262), a connecting rod (264) is arranged on one side of the pressure sensor (262), and a target plate (266) is arranged on the connecting rod (264); the transfer tray (5) comprises a base (501), a rotating disc (502) and a positioning and fixing assembly (504), wherein the rotating disc (502) is rotatably arranged on the base (501), and an angular positioning indicating block (505), a locking top rod (508) and a station angular mark (509) are arranged on the edge of the rotating disc (502); a reference shaft zero point scale line (5051) is arranged on the angular positioning indicating block (505); a positioning zero point scale line (5011) and the positioning and fixing assembly (504) are arranged on the part of the base (501) located outside the rotating disc (502); a photoelectric sensor (405) is arranged on the roller conveying line (4); and a reflecting plate (503) matched with the photoelectric sensor (405) is arranged on the outer wall of the rotating disc (502); the edge of the rotating disc (502) is sequentially provided with a centering scale (5021) and an outer ring portion (5022) from inside to outside, wherein each centering scale (5021) is arranged along the circumferential direction; a plurality of station angular marks (509) are arranged on the upper side of the outer ring portion (5022) along the circumferential direction; identification lines (50221) corresponding to the station angular marks (509) are arranged on the outer wall of the outer ring portion (5022); the part of the angular positioning indicating block (505) located on the upper side of the outer ring portion (5022) is provided with a reference shaft zero point scale line (5051); and the outer ring portion (5022) is provided with a locking top rod (508) for locking the position of the rotating disc (502). The large structural product (3) is placed on the rotating disc (502) and is limited by the angular positioning indicating block (505), and the lower end edge of the large structural product (3) is placed on each centering scale (5021), the lower end of the large structural product (3) is provided with a reference shaft (304), and the position of the reference shaft (304) corresponds to the position of the angular positioning indicating block (505), the fine adjustment offset of the large structural product (3) is determined according to the scale reading of each centering scale (5021) and is adjusted to the position consistent with the center of the rotating disc (502), then the angle deviation value is determined according to the corresponding scale value of the center line of the reference shaft (304) and the reference shaft zero scale line (5051), each station angular mark (509) corresponds to each station unit one by one, and after the large structural product (3) is transferred to the corresponding station unit, the rotating disc (502) is rotated to make the station angular mark (509) corresponding to the station unit rotate to the position corresponding to the positioning zero scale line (5011) on the base (501), and the mark line (50221) corresponding to the station angular mark (509) is rotated to the scale line position corresponding to the angle deviation value on the positioning zero scale line (5011).

2. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: The adjusting device (2) comprises a bed base (21), a bed frame (22) and a lifting driving mechanism (24), wherein the bed frame (22) is arranged on the upper end of the bed base (21), the bed frame (22) is provided with a mounting base plate (23) on the side close to the roller conveying line (4), the lifting driving mechanism (24) is arranged on the mounting base plate (23), one end of the lifting adjusting seat (25) is slidably connected with the mounting base plate (23) and is driven to lift by the lifting driving mechanism (24), the first lifting ring (251) is arranged on the lifting adjusting seat (25), the counterweight guiding assembly (28) is arranged on the upper end of the bed frame (22), the counterweight block assembly (27) is arranged in the bed frame (22), and the second lifting ring (278) is arranged on the counterweight block assembly (27), one end of the steel wire rope (284) is connected with the corresponding first lifting ring (251), the other end of the steel wire rope (284) is wound around the corresponding counterweight guiding assembly (28) and then extends into the bed frame (22) and is connected with the corresponding second lifting ring (278).

3. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 2, characterized in that: The counterweight guiding assembly (28) comprises a mounting base plate (281), a fixed vertical plate (282) and a guide wheel (285), wherein the mounting base plate (281) is fixedly arranged on the upper end of the bed frame (22), two fixed vertical plates (282) are arranged on the mounting base plate (281), the guide wheel (285) is arranged between the two fixed vertical plates (282), and the shaft (283) of the guide wheel (285) is arranged on the corresponding fixed vertical plate (282) at both ends, and the steel wire rope (284) is sequentially wound around each guide wheel (285) and then extends into the bed frame (22).

4. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 2, characterized in that: The counterweight assembly (27) comprises a bottom plate (271), guide shafts (273), a counterweight container (275) and counterweights (279), wherein the bottom plate (271) is fixedly arranged in the bed frame (22), the bottom plate (271) is provided with guide shaft supports (272) at both ends, and two guide shafts (273) are vertically arranged in the corresponding guide shaft supports (272), the counterweight container (275) is arranged between the two guide shafts (273), and the counterweight container (275) is provided with guide limiting sliding blocks (274) on both sides, the guide limiting sliding blocks (274) are provided with grooves matched with the guide shafts (273) on the corresponding sides, the counterweight container (275) is provided with a second lifting ring (278) on the upper side, the counterweights (279) are arranged in the counterweight container (275) in layers, and the counterweight container (275) is provided with counterweight connecting strips (276) on both sides for sequentially connecting the counterweights (279), and the bottom plate (271) is provided with a buffer (277).

5. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: The lower side of the rotating disc (502) is rotationally connected with the base (501) through a rotary support bearing (506), wherein the bearing outer ring (5061) of the rotary support bearing (506) is fixedly connected with the base (501), the bearing inner ring (5062) of the rotary support bearing (506) is fixedly connected with the rotating disc (502), and in addition, the lower side of the rotating disc (502) is provided with a plurality of bearing seats (5023) along the circumferential direction, and the bearing seats (5023) are provided with roller bearings (5024).

6. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: The positioning and fixing assembly (504) comprises a stop block (5042), a sliding block (5044), a sliding channel base (5047) and a fixing seat (5049), wherein the fixing seat (5049) is fixedly arranged on the base (501), the sliding channel base (5047) is fixedly arranged on the fixing seat (5049), the sliding channel base (5047) is provided with vertical plates (50471) on both sides, the sliding block (5044) is arranged between the two vertical plates (50471), the sliding block (5044) is provided with sliding grooves on both sides, the vertical plates (50471) are provided with guide screws (50411), the guide screws (50411) are inserted into the sliding grooves on the corresponding sides of the sliding block (5044), the stop block (5042) is arranged at the front end of the sliding block (5044), the rear side of the sliding block (5044) is provided with a wedge-shaped tail stop (5045), the tail part of the sliding channel base (5047) is provided with a beveled slot, and the vertical plates (50471) on either side are provided with elbow clamps (5043), after the sliding block (5044) is moved forward to a position, the wedge-shaped tail stop (5045) is inserted into the beveled slot, and the sliding block (5044) is clamped by the elbow clamps (5043).

7. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: The binocular vision system (6) comprises a fixed column (601), an electric cylinder (602) and a binocular vision positioning device (603), wherein the electric cylinder (602) is arranged on the fixed column (601), and the binocular vision positioning device (603) is arranged on the electric cylinder (602) and is driven to rise and fall by the electric cylinder (602).

8. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: The robot scanning measurement system (7) comprises a six-axis robot (702), a connecting arm (707) and a scanning measurement head (705), wherein the lower end of the six-axis robot (702) is mounted on a robot base (701), the free end of the six-axis robot (702) is connected to the rear end of the connecting arm (707) through a quick-change joint (706), the front end of the connecting arm (707) is connected to the scanning measurement head (705), and in addition, the scanning measurement head (705) is arranged in a protective cover (704), the upper end of the protective cover (704) is fixed to the connecting arm (707), and the front end of the connecting arm (707) is further provided with an anti-collision sensor (703); One side of the roller conveyor line (4) is provided with a calibration rod fixing mechanism (9), the calibration rod fixing mechanism (9) comprises a mounting fixed column (901), a moving frame (903) and a calibration rod (907), wherein the top end of the mounting fixed column (901) is provided with a positioning support plate (902), and the positioning support plate (902) is in the shape of a yoke, the moving frame (903) is embedded in the positioning support plate (902), the upper end of the moving frame (903) is provided with a tool-side quick-change joint (904) which is connected to the free end of the six-axis robot (702), the lower part of the moving frame (903) is provided with a clamping (905) for fixing the calibration rod (907), and the horizontal rod part of the upper end of the fixed column (901) is provided with support limiting plates (906) for supporting the calibration rod (907).

9. The automatic adjustment and measurement equipment for aligning a reference surface of a large structural component according to claim 1, characterized in that: One side of the adjustment device (2) is provided with a global coordinate system reference benchmark (8), the global coordinate system reference benchmark (8) comprises a fixed stand (801), the fixed stand (801) is provided with a vertical target plate (802), the vertical target plate (802) is provided with a plurality of horizontal target plates (803), and the vertical target plate (802) and the horizontal target plates (803) are both provided with coordinate system target points (804).

Images