Device and method for online measurement and model reconstruction in winding forming process of solid rocket engine composite material shell

Abstract

The invention discloses an online measurement and model reconstruction device and method in the solid rocket engine composite material shell winding forming process, the device comprises a measurement system and an upper computer, the measurement system comprises a plurality of measurement modules, and each measurement module comprises a non-contact optical distance sensor. After a certain layer is completed in the winding process of the composite material shell, the upper computer controls the measuring module to do axial movement along the shell and measures the distances from measuring points on a plurality of contour lines of the outer profile of the shell to the sensor at the same time, the upper computer controls the composite material shell core mold to rotate by a certain angle after each time of measurement is completed, measurement is conducted again, and the composite material shell core mold is obtained. The above steps are repeated until the measurement of the whole outer molded surface is completed, and the model reconstruction of the composite material shell is realized by processing the measured outer molded surface data, so that the measurable and iterable effects of the composite material shell in the winding process are realized, and the measurement efficiency and the design and manufacturing precision of the process molded surface of the composite material shell are improved.

Description

Technical Field

[0001] The invention relates to the field of solid rocket engine casing design, and in particular to a device and method for online measurement and model reconstruction during the winding molding process of a composite material casing of a solid rocket engine. Background Art

[0002] Carbon fiber reinforced resin-based composite materials have the advantages of light weight, high strength, high specific strength and modulus, strong designability, fatigue resistance, and easy to achieve structural and functional integration. With these advantages, composite materials have become an excellent choice for solid rocket engine shells. As one of the earliest developed and relatively mature composite material automated molding technologies, winding molding is one of the efficient and ideal molding processes for solid rocket engine shells. In the existing composite shell winding molding process, due to the characteristics of the shell head with continuously variable thickness and angle, it is difficult to accurately predict the distribution of its stress field state during strength design, so that the head strength cannot be effectively designed and reliability controlled, which easily causes the shell head to lose its bearing capacity prematurely due to insufficient strength or the redundant mass of the head is too high, and the shell characteristic coefficient is difficult to improve, and the reliability and advancement of the corresponding weapons and equipment are seriously reduced.

[0003] At present, obtaining a three-dimensional research model with higher accuracy and higher consistency with the actual production product is one of the basic research directions for fine design of the shell structure to improve the performance and reliability of the composite shell. In the existing technology, obtaining a three-dimensional research model of a composite shell requires manual measurement of the shell using a contact measuring instrument or a handheld three-dimensional scanner, and then modeling based on the measured data. However, using a contact measuring instrument or a handheld 3D scanner to measure the composite shell will lead to the following problems: (1) Since the contact measuring instrument needs to contact the process product when performing online measurement, the use of the contact measuring instrument for online measurement will affect the product quality; (2) Since the handheld 3D scanner is based on the principle of vision, the measurement result will be affected by the ambient light noise, background light source and the color of the measured object itself, resulting in reduced accuracy; (3) The handheld 3D scanner needs to be manually held for measurement, and the measured area needs to be scanned repeatedly during measurement to ensure that the data is complete and accurate. The measurement operation is cumbersome and inefficient; (4) Both the contact measuring instrument and the handheld 3D scanner require manual intervention for measurement, which is not suitable for the manual intervention required by the process of winding composite shells with medicine, and therefore it is impossible to perform online measurement of the changes in the external surface state of the wound composite shells with medicine during the manufacturing process. Summary of the invention

[0004] In order to solve the above problems, the present invention discloses a device and method for online measurement and model reconstruction during the winding molding process of a solid rocket engine composite material shell. The device and method can perform non-contact rapid online measurement of the external surface of the composite material shell during the winding molding process, and realize model reconstruction of the composite material shell by processing the measured external surface data, thereby obtaining a higher-precision three-dimensional research model, improving the consistency between the model and the product, thereby realizing the measurable and iterative nature of the composite material shell in the winding process, and improving the design and manufacturing accuracy of the structural product.

[0005] The specific technical solutions of the present invention are as follows:

[0006] A device for online measurement and model reconstruction during the winding molding process of a composite material shell of a solid rocket engine, the device comprising a measurement system and a host computer, the measurement system comprising a measurement module, an active mechanism, a driven mechanism, a support frame, a magnetic scale, a limit switch, and a two-dimensional level, wherein there are multiple measurement modules, all of which are fixedly connected together, the measurement module comprising a non-contact optical distance sensor for measuring the distance from a measurement point on the outer surface of the composite material shell to the non-contact optical distance sensor along the diameter direction of the composite material shell, and the position of the measurement module after installation should satisfy: the non-contact optical distance sensors are all located on an arc, the circumference of the arc is located on a plane parallel to the cross section of the composite material shell, and the center of the circumference is located on the axis of the composite material shell core mold or on the extension line of the axis of the composite material shell core mold;

[0007] The active mechanism includes a moving part that can actively move, and the moving part is fixedly connected to the measuring module. The position of the active mechanism after installation should meet the following requirements: the movement trajectory of the moving part is parallel to the axis of the composite material shell core mold, and the active mechanism is used to drive one of the multiple measuring modules to move axially along the composite material shell. When the measuring module moves axially, it also drives the remaining measuring modules to move axially along the composite material shell. Each axial movement of the measuring module can simultaneously measure the distance from the measuring point on multiple contour lines of the outer surface of the composite material shell to the non-contact optical distance sensor along the diameter direction of the composite material shell;

[0008] The driven mechanism includes a movable moving part, and there are multiple moving parts, which are respectively fixedly connected to the remaining measurement modules. The position of the driven mechanism after installation should meet the following requirements: the movement trajectory of the moving part is parallel to the axis of the composite material shell core mold, and the driven mechanism is used to support and limit the axial movement trajectory of the remaining measurement modules;

[0009] The support frame is arranged below the composite material shell core mold, and is used to install and set the measuring module, the active mechanism, the driven mechanism, the magnetic scale, the limit switch, and the two-dimensional level. The support frame includes a plurality of adjustment feet to adjust the horizontal state of the measuring system;

[0010] The magnetic scale is used to measure the axial displacement of the measuring module when measuring a certain measuring point on the contour line of the composite material shell, so as to determine the axial coordinate of the measuring point;

[0011] There are two limit switches, which are arranged at the starting point and the end point of the axial movement of the measuring module on the driven mechanism, and are used to stop the axial movement of the measuring module when being touched by the measuring module; when the measuring module moves to the end point and touches the limit switch, the axial movement is stopped, and the one-way contour line measurement ends. The measuring module moves in the reverse direction back to the starting point, and stops moving when it touches the limit switch at the other end, and prepares for the next measurement;

[0012] The two-dimensional level is used to indicate whether the measurement system is placed horizontally.

[0013] The host computer is electrically connected to the composite material shell winding molding equipment, the measuring module of the measuring system, the active mechanism, the limit switch, and the magnetic scale. The host computer is used to control the operation of the measuring system components, receive the measuring data of the measuring system, perform data processing and complete three-dimensional reconstruction;

[0014] The host computer can also be used to realize the follow-up control of the main shaft of the composite shell winding molding equipment. After the multiple measurement modules complete an axial movement and reset, the host computer communicates with the composite shell winding molding equipment and transmits a follow-up signal to the composite shell winding molding equipment, so that the main shaft of the composite shell winding molding equipment drives the composite shell core mold to rotate a certain angle; after the rotation of the composite shell core mold is completed, the host computer controls the measurement module to perform axial movement again, and repeats the above steps until the measurement system completes the measurement of the complete external surface of the composite shell.

[0015] Preferably, the number of the measuring modules, the layout of the non-contact optical distance sensors on the arc, and the center angle corresponding to the arc can be determined according to measurement requirements, and the angle of each rotation of the composite shell core mold can be determined according to the number of measuring modules actually used, the center angle corresponding to the arc, and the requirements for measurement point density.

[0016] Preferably, there are three measuring modules, namely measuring module a, measuring module b, and measuring module c, which are all fixedly connected together, and the measuring module a, measuring module b, and measuring module c all include non-contact optical distance sensors;

[0017] The positions of the measuring modules a, b and c after installation should satisfy the following conditions: the non-contact optical distance sensors of the three measuring modules are evenly distributed on an arc with a central angle of 90°, the circumference of the arc is located on a plane parallel to the cross section of the composite material shell, and the center of the circumference is located on the axis of the composite material shell core mold or on the extension line of the axis of the composite material shell core mold, the non-contact optical distance sensor of the measuring module a is located at the lowest point of the circumference, the non-contact optical distance sensor of the measuring module b is located at a point on the circumference that forms a central angle of 45° with the lowest point, and the non-contact optical distance sensor of the measuring module c is located at a point on the circumference that forms a central angle of 90° with the lowest point;

[0018] The measuring module b is fixedly connected to the active mechanism, and the measuring modules a and c are fixedly connected to the driven mechanism. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring points on the three contour lines of the outer surface of the composite material shell to the non-contact optical distance sensor along the diameter direction of the composite material shell;

[0019] The host computer controls the main shaft of the composite shell winding molding equipment to drive the composite shell core mold to rotate 90° each time. After the composite shell core mold rotates three times and the three measuring modules perform four axial movements, the measuring system completes the measurement of the complete external surface of the composite shell.

[0020] Preferably, the measuring module a, the measuring module b, and the measuring module c also include a linear fine-tuning platform, which is used to adjust the distance between the non-contact optical distance sensor and the composite material shell core mold, thereby calibrating the position of the non-contact optical distance sensor so that the outer surface of the composite material shell is always within the measuring range of the non-contact optical distance sensor.

[0021] Preferably, the measuring module a, the measuring module b, and the measuring module c also include a gear set and a servo motor, wherein the servo motor is used to drive the gear set to rotate, and the gear set is used to drive the non-contact optical distance sensor to rotate around the measuring light emitted by the non-contact optical distance sensor, so that the receiving plane on the non-contact optical distance sensor for receiving the measuring light reflected by the outer surface of the composite material shell can emit the measuring light and rotate around it, thereby expanding the measuring range of the non-contact optical distance sensor.

[0022] Preferably, the measuring module b further comprises a rotating fine-tuning platform, and the rotating fine-tuning platform is used to calibrate the inclination angle of the measuring light emitted by the non-contact optical distance sensor so that the emitted measuring light points to the axis of the composite material shell core mold.

[0023] Preferably, the active mechanism includes a stepper motor and a ball screw mechanism, the ball screw mechanism includes a ball screw and a ball screw nut, the ball screw nut is the moving part of the active mechanism, the ball screw nut is fixedly connected to the measuring module b, and the ball screw is parallel to the axis of the composite material shell core mold after installation; the stepper motor is used to drive the ball screw to rotate, thereby driving the nut and the measuring module b to move axially along the screw; the driven mechanism includes two slider guide mechanisms, the sliders of the two slider guide mechanisms are the moving parts of the driven mechanism, the sliders of the two slider guide mechanisms are respectively fixedly connected to the measuring module a and the measuring module c, and the guide rails of the two slider guide mechanisms are parallel to the axis of the composite material shell core mold after installation; the measuring modules a and c, driven by the measuring module b, can move axially along the composite material shell on the linear guide rail.

[0024] The present invention also provides a method for online measurement during the winding process of a composite material casing of a solid rocket engine using the device, and the method is as follows:

[0025] S1: The measurement system is arranged below the composite material shell core mold, and the adjustable feet of the support frame are adjusted with reference to the two-dimensional level to make the position of the measurement system horizontal, and the positions of the non-contact optical distance sensors of the measurement module a, the measurement module b, and the measurement module c are adjusted so that the positions of the three non-contact optical distance sensors meet the measurement requirements, and the positions of the lead screw of the active mechanism and the guide rail of the driven mechanism are adjusted so that the lead screw of the active mechanism and the guide rail of the driven mechanism are parallel to the axis of the composite material shell core mold;

[0026] S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor through the linear fine-tuning platform and the rotary fine-tuning platform, and controlling the servo motors of the measuring modules a, b and c through the host computer to drive the gear set to rotate, thereby adjusting the rotation angle of the non-contact optical distance sensor with the emitted measuring light as the center, ensuring that the non-contact optical distance sensor can receive the reflected measuring light;

[0027] S3: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer controls the active mechanism to drive the measuring module b to move axially along the composite material shell, thereby driving the measuring module a and the measuring module c to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell;

[0028] S4: After the three measuring modules complete one axial movement and reset, the host computer controls the main shaft of the composite shell winding molding equipment to drive the composite shell core mold to rotate 90°. After the composite shell core mold rotates, the host computer controls the three measuring modules to perform axial movement again. After the composite shell core mold rotates three times and the three measuring modules perform four axial movements, the measuring system completes the measurement of the complete external surface of the composite shell.

[0029] S5: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured to obtain the data, so as to realize the online measurement of the composite shell forming process.

[0030] The present invention also provides a method for online measurement and model reconstruction during the winding molding process of a composite material shell of a solid rocket engine using the device. The method for online measurement and model reconstruction during the winding molding process of the composite material shell of a solid rocket engine is as follows:

[0031] S1: The measurement system is arranged below the composite material shell core mold, and the adjustable feet of the support frame are adjusted with reference to the two-dimensional level to make the position of the measurement system horizontal, and the positions of the non-contact optical distance sensors of the measurement module a, the measurement module b, and the measurement module c are adjusted so that the positions of the three non-contact optical distance sensors meet the measurement requirements, and the positions of the lead screw of the active mechanism and the guide rail of the driven mechanism are adjusted so that the lead screw of the active mechanism and the guide rail of the driven mechanism are parallel to the axis of the composite material shell core mold;

[0032] S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor through the linear fine-tuning platform and the rotary fine-tuning platform, and controlling the servo motors of the measuring modules a, b and c through the host computer to drive the gear set to rotate, thereby adjusting the rotation angle of the non-contact optical distance sensor with the emitted measuring light as the center, ensuring that the non-contact optical distance sensor can receive the reflected measuring light;

[0033] S3: Before performing the composite material shell winding process, pre-measuring the distance between the non-contact optical distance sensor and the axis of the composite material shell core mold;

[0034] S4: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer controls the active mechanism to drive the measuring module b to move axially along the composite material shell, thereby driving the measuring module a and the measuring module c to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell;

[0035] S5: After the three measuring modules complete one axial movement and reset, the host computer controls the main shaft of the composite shell winding molding equipment to drive the composite shell core mold to rotate 90°. After the composite shell core mold rotates, the host computer controls the three measuring modules to perform axial movement again. After the composite shell core mold rotates three times and the three measuring modules perform four axial movements, the measuring system completes the measurement of the complete external surface of the composite shell.

[0036] S6: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured, so as to realize the online measurement of the composite shell forming process;

[0037] S7: The distance between the axis of the composite shell core mold and the non-contact optical distance sensor is subtracted from the distance from a certain measuring point on the outer surface contour line of the composite shell to the non-contact optical distance sensor along the diameter direction of the composite shell, so as to obtain the distance between the axis of the composite shell core mold and the measuring point. Combined with the axial displacement of the measuring module measured by the magnetic ruler when measuring the measuring point, a two-dimensional parameter including the radial coordinate and the axial coordinate of the measuring point is obtained; in a cylindrical coordinate system established with the axis of the composite shell core mold as the z-axis, the distance between the axis of the composite shell core mold and the measuring point is the radial coordinate of the measuring point, and the axial displacement of the measuring module when measuring the measuring point is the axial coordinate of the measuring point;

[0038] S8: The circumferential azimuth coordinates of the measuring point can be obtained by adding the distribution angle of the non-contact optical distance sensor on the circumference of the plane parallel to the cross-section of the composite shell before measurement and the rotation angle of the composite shell core mold when measuring the measuring point; the three-dimensional cylindrical coordinates of the measuring point include the radial coordinates, circumferential azimuth coordinates, and axial coordinates of the measuring point. The three-dimensional cylindrical coordinates of the measuring point can be used to obtain the three-dimensional parameters of the measuring point in the three-dimensional rectangular coordinate system through coordinate transformation, and then the three-dimensional model reconstruction of the composite shell is realized based on the complete external surface data of different laminates or specified laminates of the composite shell obtained by measurement.

[0039] The beneficial effects achieved by the present invention are as follows:

[0040] (1) The present invention provides an apparatus and method for online measurement and model reconstruction during the winding process of a composite material shell of a solid rocket engine. The apparatus and method can perform non-contact rapid online measurement of the external surface of the composite material shell during the winding process, and can reconstruct the model of the composite material shell by processing the measured external surface data, thereby obtaining a more accurate three-dimensional research model and improving the consistency between the model and the product, thereby achieving measurable and iterative properties of the composite material shell in the winding process and improving the design and manufacturing accuracy of the structural product.

[0041] (2) The present invention provides an apparatus and method for online measurement and model reconstruction during the winding process of a composite material shell of a solid rocket engine. A non-contact optical distance sensor is used to achieve online measurement. There is no need to contact the product of the process during measurement. Compared with the use of a contact measuring instrument, the impact of the measurement work on product quality can be eliminated.

[0042] (3) The non-contact optical distance sensor used in the device and method for online measurement and model reconstruction during the winding molding process of a solid rocket engine composite material shell provided by the present invention has the advantage of being less affected by ambient light noise, background light source and the color of the measured object itself, compared with a handheld three-dimensional scanner based on the visual principle, and has high accuracy and good robustness.

[0043] (4) The present invention provides an apparatus and method for online measurement and model reconstruction during the winding molding process of a composite material shell of a solid rocket engine. Three non-contact optical distance sensors are used for simultaneous measurement. The three sensors are driven by a motor and the measurement areas do not overlap. Compared with the use of a handheld three-dimensional scanner, the measurement efficiency is improved.

[0044] (5) The device and method for online measurement and model reconstruction during the winding molding process of a composite material shell of a solid rocket engine provided by the present invention can realize the linkage between online measurement and the processing process of the winding molding equipment. No human intervention is required during the linkage process, which ensures the safety of the measurement work and reduces the labor intensity of the measurement personnel.

[0045] (6) The device and method for online measurement and model reconstruction during the winding process of a solid rocket engine composite material shell provided by the present invention can realize online measurement without human intervention, and is suitable for the process of winding composite material shells with charge without human intervention required, so it can measure the changes in the external surface state during the manufacturing process of the composite material shells with charge winding online. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions disclosed in the present invention, the following briefly introduces the drawings required to be used in some embodiments disclosed in the present invention. Obviously, the drawings described below are only drawings of some embodiments disclosed in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not limitations on the actual size of the products involved in the embodiments disclosed in the present invention, the actual process of the method, etc.

[0047] Figure 1 It is a schematic diagram of an online measurement and model reconstruction device during the winding molding process of a composite material casing of a solid rocket engine, a composite material casing core mold, and a machine tool spindle of a composite material casing winding molding equipment provided by the present invention;

[0048] Figure 2 A schematic diagram of a measurement system provided in the present invention;

[0049] Figure 3 It is a schematic diagram of measurement module a, measurement module b, and measurement module c provided in the present invention.

[0050] The accompanying drawings are marked as follows: 1. measuring module a; 2. measuring module b; 3. measuring module c; 4. active mechanism; 5. driven mechanism; 6. supporting frame; 7. magnetic scale; 8. limit switch; 9. two-dimensional level; 10. linear fine-tuning platform; 11. non-contact optical distance sensor; 12. gear set; 13. servo motor; 14. rotary fine-tuning platform; 15. measuring system; 16. host computer; 17. composite material shell core mold; 18. composite material shell winding molding equipment machine tool spindle. DETAILED DESCRIPTION

[0051] The embodiments disclosed in the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0052] Embodiment 1

[0053] like Figure 1 As shown, the device for online measurement and model reconstruction during the winding molding process of a composite material shell of a solid rocket engine provided by the present invention includes a measurement system 15 and a host computer 16, and the measurement system 15 is arranged below a core mold 17 of the composite material shell.

[0054] like Figure 2 As shown, the measuring system 15 provided in the invention includes a measuring module, an active mechanism 4, a driven mechanism 5, a support frame 6, a magnetic scale 7, a limit switch 8, and a two-dimensional level 9, wherein the measuring modules include three, namely, a measuring module a1, a measuring module b2, and a measuring module c3, which are fixedly connected together, and the measuring modules a1, b2, and c3 all include a non-contact optical distance sensor 11, which is used to measure the distance from a measuring point on the outer surface of the composite material shell to the non-contact optical distance sensor 11 along the diameter direction of the composite material shell, and the positions of the measuring modules a1, b2, and c3 after installation should satisfy: The non-contact optical distance sensors 11 of the three measuring modules are evenly distributed on an arc with a central angle of 90°, the circumference of the arc is located on a plane parallel to the cross section of the composite material shell, and the center of the circumference is located on the axis of the composite material shell core mold 17 or on the extension line of the axis of the composite material shell core mold 17, the non-contact optical distance sensor 11 of the measuring module a1 is located at the lowest point of the circumference, the non-contact optical distance sensor 11 of the measuring module b2 is located at a point on the circumference that forms a central angle of 45° with the lowest point, and the non-contact optical distance sensor 11 of the measuring module c3 is located at a point on the circumference that forms a central angle of 90° with the lowest point;

[0055] The active mechanism 4 includes a stepper motor and a ball screw mechanism, wherein the ball screw mechanism includes a ball screw and a ball screw nut, wherein the ball screw nut is fixedly connected to the measuring module b2, and the ball screw is parallel to the axis of the composite material shell core mold 17 after installation; the stepper motor is used to drive the ball screw to rotate, thereby driving the nut and the measuring module b2 to move axially along the screw; while the measuring module b2 moves axially, it also drives the measuring modules a1 and c3 to move axially along the composite material shell, and each axial movement of the three measuring modules can simultaneously measure the distance from the measuring points on the three contour lines of the outer surface of the composite material shell to the non-contact optical distance sensor 11 along the diameter direction of the composite material shell;

[0056] The driven mechanism 5 includes two slider guide mechanisms, the sliders of the two slider guide mechanisms are fixedly connected to the measuring module a1 and the measuring module c3 respectively, and the guide rails of the two slider guide mechanisms are parallel to the axis of the composite material shell core mold 17 after installation; the measuring modules a1 and c3 can move axially along the composite material shell on the linear guide rail under the drive of the measuring module b2;

[0057] The support frame 6 is arranged below the composite material shell core mold 17, and the support frame 6 is used to install and set the measuring module, the active mechanism 4, the driven mechanism 5, the magnetic scale 7, the limit switch 8, and the two-dimensional level 9. The support frame 6 includes a plurality of adjustable feet, which can adjust the horizontal state of the measuring system 15;

[0058] The magnetic scale 7 is used to measure the axial displacement of the measuring module when measuring a certain measuring point on the contour line of the composite material shell, so as to determine the axial coordinates of the measuring point;

[0059] There are two limit switches 8, which are arranged at the starting point and the end point of the axial movement of the measuring module on the guide rail of the driven mechanism 5, and are used to stop the axial movement of the measuring module when being touched by the measuring module; when the measuring module moves to the end point and touches the limit switch 8, the axial movement is stopped, and the one-way contour line measurement ends. The measuring module moves in the reverse direction back to the starting point, and stops moving when it touches the limit switch 8 at the other end, and prepares for the next measurement;

[0060] The two-dimensional level 9 is used to indicate whether the placement state of the measurement system 15 is horizontal;

[0061] The host computer 16 is electrically connected to the composite shell winding molding equipment, the measuring module of the measuring system 15, the active mechanism 4, the limit switch 8, and the magnetic scale 7. The host computer 16 is used to control the operation of the measuring module, the active mechanism 4 and other components of the measuring system 15, receive the measurement data of the measuring system 15, perform data processing and complete three-dimensional reconstruction. The host computer 16 can also be used to realize the follow-up control of the machine tool spindle 18 of the composite shell winding molding equipment. After the three measuring modules complete an axial movement and reset, the host computer 16 communicates with the composite shell winding molding equipment and transmits a follow-up signal to the composite shell winding molding equipment, so that the machine tool spindle 18 of the composite shell winding molding equipment drives the composite shell core mold 17 to rotate 90°; after the composite shell core mold 17 rotates, the host computer 16 controls the multiple measuring modules to perform axial movement again. After the composite shell core mold 17 rotates three times and the three measuring modules perform four axial movements, the measuring system 15 completes the measurement of the complete external surface of the composite shell.

[0062] like Figure 3 As shown, the measuring module a1, the measuring module b2, and the measuring module c3 provided in the present invention further include a linear fine-tuning platform 10, and the linear fine-tuning platform 10 is used to adjust the distance between the non-contact optical distance sensor 11 and the composite material shell core mold 17, so as to calibrate the position of the non-contact optical distance sensor 11, so that the outer surface of the composite material shell is always within the range of the non-contact optical distance sensor 11;

[0063] The measuring modules a1, b2 and c3 further include a gear set 12 and a servo motor 13. The servo motor 13 is used to drive the gear set 12 to rotate. The gear set 12 is used to drive the non-contact optical distance sensor 11 to rotate around the measuring light emitted by the non-contact optical distance sensor 11, so that the receiving plane on the non-contact optical distance sensor 11 for receiving the measuring light reflected by the outer surface of the composite material shell can emit the measuring light and rotate around it, thereby expanding the measuring range of the non-contact optical distance sensor 11.

[0064] The measuring module b2 further comprises a rotating fine-tuning platform 14 , which is used to calibrate the inclination angle of the measuring light emitted by the non-contact optical distance sensor 11 so that the emitted measuring light points to the axis of the composite material shell core mold 17 .

[0065] In this embodiment, a method for online measurement during winding molding of a composite material shell of a solid rocket engine using the device is also provided. The method for online measurement during winding molding of a composite material shell of a solid rocket engine is as follows:

[0066] S1: The measuring system 15 is arranged below the composite material shell core mold 17, and the adjustable feet of the support frame 6 are adjusted with reference to the two-dimensional level 9 to make the position of the measuring system 15 horizontal, and the positions of the non-contact optical distance sensors 11 of the measuring modules a1, b2 and c3 are adjusted so that the positions of the three non-contact optical distance sensors 11 meet the measurement requirements, and the positions of the lead screw of the active mechanism 4 and the guide rail of the driven mechanism 5 are adjusted so that the lead screw of the active mechanism 4 and the guide rail of the driven mechanism 5 are parallel to the axis of the composite material shell core mold 17;

[0067] S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor 11 through the linear fine-tuning platform 10 and the rotary fine-tuning platform 14, and controlling the servo motor 13 of the measuring module a1, the measuring module b2, and the measuring module c3 through the host computer 16 to drive the gear set 12 to rotate, thereby adjusting the rotation angle of the non-contact optical distance sensor 11 with the emitted measuring light as the center, ensuring that the non-contact optical distance sensor 11 can receive the reflected measuring light;

[0068] S3: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer 16 controls the active mechanism 4 to drive the measuring module b2 to move axially along the composite material shell, thereby driving the measuring module a1 and the measuring module c3 to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell;

[0069] S4: After the three measuring modules complete one axial movement and reset, the host computer 16 controls the main shaft 18 of the composite shell winding molding equipment to drive the composite shell core mold 17 to rotate 90°. After the composite shell core mold 17 rotates, the host computer 16 controls the three measuring modules to perform axial movement again. After the composite shell core mold 17 rotates three times and the three measuring modules perform four axial movements, the measuring system 15 completes the measurement of the complete external surface of the composite shell.

[0070] S5: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured to obtain the data, so as to realize the online measurement of the composite shell forming process.

[0071] In this embodiment, a method for online measurement and model reconstruction during winding molding of a composite material shell of a solid rocket engine using the device is also provided. The method for online measurement and model reconstruction during winding molding of a composite material shell of a solid rocket engine is as follows:

[0072] S1: The measuring system 15 is arranged below the composite material shell core mold 17, and the adjustable feet of the support frame 6 are adjusted with reference to the two-dimensional level 9 to make the position of the measuring system 15 horizontal, and the positions of the non-contact optical distance sensors 11 of the measuring modules a1, b2 and c3 are adjusted so that the positions of the three non-contact optical distance sensors 11 meet the measurement requirements, and the positions of the lead screw of the active mechanism 4 and the guide rail of the driven mechanism 5 are adjusted so that the lead screw of the active mechanism 4 and the guide rail of the driven mechanism 5 are parallel to the axis of the composite material shell core mold 17;

[0073] S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor 11 through the linear fine-tuning platform 10 and the rotary fine-tuning platform 14, and controlling the servo motor 13 of the measuring module a1, the measuring module b2, and the measuring module c3 through the host computer 16 to drive the gear set 12 to rotate, thereby adjusting the rotation angle of the non-contact optical distance sensor 11 with the emitted measuring light as the center, ensuring that the non-contact optical distance sensor 11 can receive the reflected measuring light;

[0074] S3: Before performing the composite material shell winding process, pre-measure the distance between the non-contact optical distance sensor 11 and the axis of the composite material shell core mold 17;

[0075] S4: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer 16 controls the active mechanism 4 to drive the measuring module b2 to move axially along the composite material shell, thereby driving the measuring module a1 and the measuring module c3 to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell;

[0076] S5: After the three measuring modules complete one axial movement and reset, the host computer 16 controls the main shaft 18 of the composite shell winding molding equipment to drive the composite shell core mold 17 to rotate 90°. After the composite shell core mold 17 rotates, the host computer 16 controls the three measuring modules to perform axial movement again; after the composite shell core mold 17 rotates three times and the three measuring modules perform four axial movements, the measuring system 15 completes the measurement of the complete outer surface of the composite shell;

[0077] S6: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured, so as to realize the online measurement of the composite shell forming process;

[0078] S7: The distance between the axis of the composite shell core mold 17 and the non-contact optical distance sensor 11 is subtracted from the distance from a certain measuring point on the outer surface contour line of the composite shell to the non-contact optical distance sensor 11 along the diameter direction of the composite shell, so as to obtain the distance between the axis of the composite shell core mold 17 and the measuring point. Combined with the axial displacement of the measuring module measured by the magnetic scale 7 when measuring the measuring point, a two-dimensional parameter including the radial coordinate and the axial coordinate of the measuring point is obtained; in a cylindrical coordinate system established with the axis of the composite shell core mold 17 as the z-axis, the distance between the axis of the composite shell core mold 17 and the measuring point is the radial coordinate of the measuring point, and the axial displacement of the measuring module when measuring the measuring point is the axial coordinate of the measuring point;

[0079] S8: The circumferential azimuth coordinates of the measuring point can be obtained by adding the distribution angle of the non-contact optical distance sensor 11 on the circumference of the plane parallel to the cross-section of the composite shell before measurement and the rotation angle of the composite shell core mold 17 when measuring the measuring point; the three-dimensional cylindrical coordinates of the measuring point include the radial coordinates, circumferential azimuth coordinates, and axial coordinates of the measuring point. The three-dimensional cylindrical coordinates of the measuring point can be used to obtain the three-dimensional parameters of the measuring point in the three-dimensional rectangular coordinate system through coordinate transformation, and then the three-dimensional model reconstruction of the composite shell is realized based on the complete external surface data of different layers or specified layers of the composite shell obtained by measurement.

[0080] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A device for online measurement and model reconstruction during the winding process of a composite material casing of a solid rocket engine, characterized in that: The device comprises a measuring system (15) and a host computer (16), wherein: The measuring system (15) comprises a measuring module, an active mechanism (4), a driven mechanism (5), a support frame (6), a magnetic scale (7), a limit switch (8), and a two-dimensional level (9); The measuring module comprises a non-contact optical distance sensor (11) for measuring the distance from a measuring point on the outer surface of the composite material shell to the non-contact optical distance sensor (11) along the diameter direction of the composite material shell; the measuring module comprises a plurality of modules which are fixedly connected together; The active mechanism (4) comprises a moving part for active movement, which is fixedly connected to the measuring module; The driven mechanism (5) comprises a plurality of moving parts and is fixedly connected to the measuring module; The support frame (6) comprises a plurality of adjustable feet for adjusting the horizontal state of the measuring system (15); the support frame (6) is arranged below the composite material shell core mold (17), and the support frame (6) is used to install and set the measuring module, the active mechanism (4), the driven mechanism (5), the magnetic scale (7), the limit switch (8), and the two-dimensional level (9); The magnetic scale (7) is used to measure the axial displacement of the measuring module when measuring a certain measuring point on the contour line of the composite material shell, thereby determining the axial coordinate of the measuring point; There are two limit switches (8), which are respectively arranged at the starting point and the end point of the axial movement of the measuring module on the driven mechanism (5), and are used to stop the axial movement of the measuring module when touched by the measuring module; The two-dimensional level (9) is used to indicate whether the placement state of the measurement system (15) is horizontal; The host computer (16) is used to control the operation of the components of the measurement system (15), receive the measurement data of the measurement system (15), perform data processing and complete three-dimensional reconstruction.

2. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 1, characterized in that: The number of the measurement modules, the layout of the non-contact optical distance sensor (11) on the arc, and the center angle corresponding to the arc are determined according to measurement requirements, and the angle of each rotation of the composite material shell core mold (17) is determined according to the number of measurement modules actually used, the center angle corresponding to the arc, and the requirements for measurement point density.

3. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 1, characterized in that: The position of the measuring module after installation should satisfy the following requirements: the non-contact optical distance sensor (11) is located on an arc, the circumference of the arc is located on a plane parallel to the cross section of the composite material shell, and the center of the circumference is located on the axis of the composite material shell core mold (17) or on the extension line of the axis of the composite material shell core mold (17).

4. The device for online measurement and model reconstruction during winding of a composite material casing of a solid rocket engine according to claim 1, characterized in that: The installation position of the active mechanism (4) should satisfy the following conditions: the movement trajectory of the moving component is parallel to the axis of the composite material shell core mold (17); the active mechanism (4) is used to drive the measuring module to move axially along the composite material shell; while the measuring module moves axially, it also drives the remaining measuring modules to move axially along the composite material shell; each axial movement can simultaneously measure the distance from the measuring points on multiple contour lines of the outer surface of the composite material shell to the non-contact optical distance sensor (11) along the diameter direction of the composite material shell.

5. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 1, characterized in that: The installation position of the driven mechanism (5) should satisfy the following requirements: the movement trajectory of the moving component is parallel to the axis of the composite material shell core mold (17), and the driven mechanism (5) is used to support and limit the axial movement trajectory of the remaining measurement modules.

6. The device for online measurement and model reconstruction during winding of a composite material casing of a solid rocket engine according to claim 1, characterized in that: The host computer (16) is also used for follow-up control of a machine tool spindle (18) of a composite shell winding molding device. After the measurement module completes an axial movement and resets, the host computer (16) communicates with the composite shell winding molding device and transmits a follow-up signal to the composite shell winding molding device, so that the machine tool spindle (18) of the composite shell winding molding device drives the composite shell core mold (17) to rotate a certain angle; after the rotation of the composite shell core mold (17) is completed, the host computer (16) controls the measurement module to perform axial movement again, and repeats the above steps until the measurement system (15) completes the measurement of the complete external surface of the composite shell.

7. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 1, characterized in that: The measuring module comprises a measuring module a (1), a measuring module b (2), and a measuring module c (3), which are fixedly connected together, and the measuring module a (1), the measuring module b (2), and the measuring module c (3) all comprise a non-contact optical distance sensor (11); The positions of the measuring module a (1), the measuring module b (2), and the measuring module c (3) after installation should satisfy the following conditions: the non-contact optical distance sensors (11) of the three measuring modules are evenly distributed on an arc with a central angle of 90°, the circumference of the arc is located on a plane parallel to the cross section of the composite material shell, and the center of the circumference is located on the axis of the composite material shell core mold (17) or on the extension line of the axis of the composite material shell core mold (17), the non-contact optical distance sensor (11) of the measuring module a (1) is located at the lowest point of the circumference, the non-contact optical distance sensor (11) of the measuring module b (2) is located at a point on the circumference that forms a central angle of 45° with the lowest point, and the non-contact optical distance sensor (11) of the measuring module c (3) is located at a point on the circumference that forms a central angle of 90° with the lowest point; The measuring module b (2) is fixedly connected to the active mechanism (4), and the measuring module a (1) and the measuring module c (3) are fixedly connected to the driven mechanism (5), and each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the non-contact optical distance sensor (11) along the diameter direction of the composite material shell; The host computer (16) controls the main shaft (18) of the composite shell winding molding equipment to drive the composite shell core mold (17) to rotate 90 degrees each time. After the composite shell core mold (17) rotates three times and the three measurement modules perform four axial movements, the measurement system (15) completes the measurement of the complete external surface of the composite shell.

8. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 7, characterized in that: The measuring module a (1), the measuring module b (2), and the measuring module c (3) further comprise a linear fine-tuning platform (10), wherein the linear fine-tuning platform (10) is used to adjust the distance between the non-contact optical distance sensor (11) and the composite material shell core mold (17), thereby calibrating the position of the non-contact optical distance sensor (11) so that the outer surface of the composite material shell is always within the measuring range of the non-contact optical distance sensor (11).

9. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 8, characterized in that: The measuring module a (1), the measuring module b (2), and the measuring module c (3) further comprise a gear set (12) and a servo motor (13); the servo motor (13) is used to drive the gear set (12) to rotate; the gear set (12) is used to drive the non-contact optical distance sensor (11) to rotate around a measuring light emitted by the non-contact optical distance sensor (11), so that a receiving plane on the non-contact optical distance sensor (11) for receiving the measuring light reflected by the outer surface of the composite material shell can rotate around the emitted measuring light, thereby expanding the measuring range of the non-contact optical distance sensor (11).

10. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 9, characterized in that: The measuring module b (2) further comprises a rotating fine-tuning platform (14), wherein the rotating fine-tuning platform (14) is used to calibrate the inclination angle of the measuring light emitted by the non-contact optical distance sensor (11) so that the emitted measuring light points to the axis of the composite material shell core mold (17).

11. The device for online measurement and model reconstruction during winding of composite material casing of solid rocket engine according to claim 10, characterized in that: The active mechanism (4) comprises a stepper motor and a ball screw mechanism, wherein the ball screw mechanism comprises a ball screw and a ball screw nut, wherein the ball screw nut is a moving part of the active mechanism (4), wherein the ball screw nut is fixedly connected to the measuring module b (2), and wherein the ball screw is parallel to the axis of the composite material shell core mold (17) after installation; wherein the stepper motor is used to drive the ball screw to rotate, thereby driving the nut and the measuring module b (2) to move axially along the screw; wherein the driven mechanism (5) comprises two slider guide rail mechanisms, wherein the sliders of the two slider guide rail mechanisms are the moving parts of the driven mechanism (5), wherein the sliders of the two slider guide rail mechanisms are fixedly connected to the measuring module a (1) and the measuring module c (3) respectively, and wherein the guide rails of the two slider guide rail mechanisms are parallel to the axis of the composite material shell core mold (17) after installation; wherein the measuring module a (1) and the measuring module c (3) can move axially along the composite material shell on the linear guide rail driven by the measuring module b (2).

12. A method for online measurement during the winding process of a composite material casing of a solid rocket engine, characterized in that: The method of online measurement is as follows: S1: The measuring system (15) is arranged below the composite material shell core mold (17), and the adjustable feet of the support frame (6) are adjusted with reference to the two-dimensional level (9) to make the position of the measuring system (15) horizontal, and the positions of the non-contact optical distance sensors (11) of the measuring module a (1), the measuring module b (2), and the measuring module c (3) are adjusted so that the positions of the three non-contact optical distance sensors (11) meet the measurement requirements, and the positions of the lead screw of the active mechanism (4) and the guide rail of the driven mechanism (5) are adjusted so that the lead screw of the active mechanism (4) and the guide rail of the driven mechanism (5) are parallel to the axis of the composite material shell core mold (17); S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor (11) by means of the linear fine-tuning platform (10) and the rotary fine-tuning platform (14), and controlling the servo motors (13) of the measuring modules a (1), b (2), and c (3) by means of the host computer (16) to drive the gear set (12) to rotate, thereby adjusting the angle of rotation of the non-contact optical distance sensor (11) with the emitted measuring light as the center, and ensuring that the non-contact optical distance sensor (11) can receive the reflected measuring light; S3: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer (16) controls the active mechanism (4) to drive the measuring module b (2) to move axially along the composite material shell, thereby driving the measuring module a (1) and the measuring module c (3) to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell. S4: After the three measuring modules complete one axial movement and reset, the host computer (16) controls the main shaft (18) of the composite shell winding molding equipment to drive the composite shell core mold (17) to rotate 90 degrees. After the composite shell core mold (17) rotates, the host computer (16) controls the three measuring modules to perform axial movement again. After the composite shell core mold (17) rotates three times and the three measuring modules perform four axial movements, the measuring system (15) completes the measurement of the complete external surface of the composite shell. S5: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured to obtain the data, so as to realize the online measurement of the composite shell forming process.

13. A method for online measurement and model reconstruction during the winding process of a composite material casing of a solid rocket engine, characterized in that: The method of reconstructing the model is as follows: S1: The measuring system (15) is arranged below the composite material shell core mold (17), and the adjustable feet of the support frame (6) are adjusted with reference to the two-dimensional level (9) to make the position of the measuring system (15) horizontal, and the positions of the non-contact optical distance sensors (11) of the measuring module a (1), the measuring module b (2), and the measuring module c (3) are adjusted so that the positions of the three non-contact optical distance sensors (11) meet the measurement requirements, and the positions of the lead screw of the active mechanism (4) and the guide rail of the driven mechanism (5) are adjusted so that the lead screw of the active mechanism (4) and the guide rail of the driven mechanism (5) are parallel to the axis of the composite material shell core mold (17); S2: manually adjusting the measuring distance range and measuring angle of the non-contact optical distance sensor (11) by means of the linear fine-tuning platform (10) and the rotary fine-tuning platform (14), and controlling the servo motors (13) of the measuring modules a (1), b (2), and c (3) by means of the host computer (16) to drive the gear set (12) to rotate, thereby adjusting the angle of rotation of the non-contact optical distance sensor (11) with the emitted measuring light as the center, and ensuring that the non-contact optical distance sensor (11) can receive the reflected measuring light; S3: before performing the composite material shell winding process, pre-measuring the distance between the non-contact optical distance sensor (11) and the axis of the composite material shell core mold (17); S4: During the composite material shell winding process, after each winding layer or designated winding layer of the composite material shell is completed, the host computer (16) controls the active mechanism (4) to drive the measuring module b (2) to move axially along the composite material shell, thereby driving the measuring module a (1) and the measuring module c (3) to move axially along the composite material shell. Each axial movement of the three measuring modules can simultaneously measure the distance from the measuring point on the three contour lines of the outer surface of the composite material shell to the measuring module along the diameter direction of the composite material shell. S5: After the three measuring modules complete one axial movement and reset, the host computer (16) controls the main shaft (18) of the composite shell winding molding equipment to drive the composite shell core mold (17) to rotate 90 degrees. After the composite shell core mold (17) rotates, the host computer (16) controls the three measuring modules to perform axial movement again. After the composite shell core mold (17) rotates three times and the three measuring modules perform four axial movements, the measuring system (15) completes the measurement of the complete external surface of the composite shell. S6: After the winding process is completed, the data of the complete external surface of different layers or designated layers of the composite shell are measured, so as to realize the online measurement of the composite shell forming process; S7: The distance between the axis of the composite shell core mold (17) and the non-contact optical distance sensor (11) is subtracted from the distance from a certain measuring point on the outer surface contour line of the composite shell to the non-contact optical distance sensor (11) along the diameter direction of the composite shell, thereby obtaining the distance between the axis of the composite shell core mold (17) and the measuring point. Combined with the axial displacement of the measuring module when measuring the measuring point measured by the magnetic scale (7), a two-dimensional parameter including the radial coordinate and the axial coordinate of the measuring point is obtained. In a cylindrical coordinate system established with the axis of the composite shell core mold (17) as the z-axis, the distance between the axis of the composite shell core mold (17) and the measuring point is the radial coordinate of the measuring point, and the axial displacement of the measuring module when measuring the measuring point is the axial coordinate of the measuring point. S8: The circumferential azimuth coordinates of the measuring point can be obtained by adding the distribution angle of the non-contact optical distance sensor (11) on the circumference of the plane parallel to the cross section of the composite shell before measurement and the rotation angle of the composite shell core mold (17) when measuring the measuring point; the three-dimensional cylindrical coordinates of the measuring point include the radial coordinates, circumferential azimuth coordinates, and axial coordinates of the measuring point. The three-dimensional cylindrical coordinates of the measuring point can obtain the three-dimensional parameters of the measuring point in the three-dimensional rectangular coordinate system through coordinate conversion, and then the three-dimensional model reconstruction of the composite shell is realized based on the complete external surface data of different layers or specified layers of the composite shell obtained by measurement.

Images