Flying target space size measuring instrument and method for detecting cabin sealing

Abstract

The invention discloses a skeet space size measuring instrument and method for detecting cabin sealing. The measuring instrument comprises a machine base, a mechanical arm, a three-dimensional scanner holder, a three-dimensional laser scanner, a battery module, a control module, a display touch screen and an air pressure detector. The battery module, the control module, the display touch screen and the air pressure detector are packaged in the machine base. The display touch screen is connected with the battery module, the control module and the air pressure detector through a cable in the back hidden wiring channel; the mechanical arm is installed above the machine base, and the mechanical arm grabs the three-dimensional laser scanner through the three-dimensional scanner clamping device to measure the space size. According to the method, the offset of the central axis of the firing device A and the receiver B, the deflection angle of the central axis and the displacement of the contact end face are automatically calculated, the minimum resolution of measurement is 0.02 mm, the distance measurement error is 0.015 mm, the angle error is 0.01 degree, and the relative position of the firing device A and the receiver B is automatically calculated through a program.

Description

Technical Field

[0001] The present invention relates to the field of aerospace, and in particular to a flying target space dimension measuring instrument and method for detecting cabin sealing. Background Art

[0002] The hub cover and nacelle cover of wind turbine are guide devices covering the outside of the hub and generator set of wind turbine. According to the principles of aerodynamics, they are generally streamlined shells that can guide the airflow entering the wind wheel, reduce resistance and protect the various components inside the hub of the unit from the intrusion of the external environment, ensuring the normal operation of the unit. When the rotor of the generator set is running, a gap will be generated between the rotor and the port of the nacelle cover. Since the working environment of the generator set is relatively harsh, when encountering windy, sandy, rainy and foggy environments, rain and dust will enter the nacelle cover through the gap, causing the wind turbine to malfunction and cause the wind turbine to stop operating.

[0003] In the existing technology, measurements are often performed inside the cabin using manual handheld laser measuring instruments. However, due to the current aerospace field's requirements for lightweight and convenience, the cabin's range of movement is very small, which is not conducive to manual measurement. Manual measurement may also have large errors, which is not only time-consuming and labor-intensive but also limited by the operating space. There is also the risk of damage to internal cabin components due to limited space and incorrect operation. Summary of the Invention

[0004] The purpose of the present invention is to address the above-mentioned existing technical problems and propose a flying target space dimension measuring instrument and method for detecting cabin sealing, which saves time and effort. The cabin is unmanned and the flying target space dimension measuring instrument is placed in the cabin to complete the test automatically or through wireless control.

[0005] A flying target space dimension measuring instrument for detecting cabin sealing, comprising a base, a mechanical arm, a 3D scanner holder, a 3D laser scanner, a battery module, a control module, a display touch screen, and an air pressure detector; The battery module, control module, display touch screen, and air pressure detector are packaged inside the base; The display touch screen is connected to the battery module, the control module, and the air pressure detector via cables in a hidden wiring channel on the back; The robotic arm is installed above the machine base, and the robotic arm grabs the 3D laser scanner through the 3D scanner holder to perform spatial dimension measurement; The interior of the base also includes a robotic arm protective cover, an upper shell, a lower shell, a battery guide rail, a fixed handle, an embedded handle, and a battery box pull-out handle; Among them, the base plays the role of supporting the target space dimension measuring instrument; Among them, the 3D scanning technology in the 3D laser scanner can provide 3D data with millimeter-level accuracy, ensuring the accuracy of the measurement results; Among them, the battery module provides power to the flying target space dimension measuring instrument.

[0006] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the battery module is arranged on the back of the upper shell of the base, and the battery module supplies power to the flying target space dimension measuring instrument; the battery guide rail is arranged below the battery module, and the battery guide rail supports the weight of the battery module, and the battery guide rail is made of metal.

[0007] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein a positioning guide sleeve is provided at the end of the battery guide rail, and the positioning guide sleeve locks the battery module front and back and fixes it on the battery guide rail, so that the battery module has shock resistance.

[0008] Among them, the positioning guide sleeve plays the role of fixing the battery module.

[0009] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the robotic arm protective cover covers the portion of the robotic arm disposed above the upper shell, and the control module is disposed on the back of the upper shell, and the control module controls the grasping direction of the robotic arm.

[0010] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the mechanical arm and the control module are limited by positioning blocks during installation, the mechanical arm and the control module are fixed to the reinforcement surface of the machine base by screws, the mechanical arm and the control module are partially streamlined, the mechanical arm and the control module are made of sheet metal, and decorative strips and sealing strips are provided at the joints between the mechanical arm and the control module; Among them, sheet metal has the advantages of light weight, high strength, low cost, and good performance in large-scale mass production; Among them, the function of the sealing strip is to seal the gap at the joint of the robotic arm and the control module to prevent the intrusion of air, moisture, dust, etc.

[0011] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the display touch screen is fixed by an adjustable dual-axis bracket, and the display touch screen is embedded in the mounting surface of the upper shell, and the display touch screen is flush with the mounting surface; the adjustable dual-axis bracket adopts a gravity optimization design and is made of corrosion-resistant steel plate, and the adjustable dual-axis bracket can adjust the height and the overhead angle.

[0012] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the control module is connected to the robotic arm via a cable, a cable connection passage is provided with a cable hole, and the cable routing is performed by binding the cable with a cable tie rack, wherein the cable connection passage is provided with a cable hole, and the cable routing is performed by binding the cable with a cable tie rack.

[0013] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the fixed handle, the embedded handle, and the battery box pull-out handle are arranged on the outer surface of the lower shell body, the battery module is replaced through the battery box pull-out handle, and the machine base is carried through the fixed handle and the embedded handle.

[0014] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the air pressure detector detects real-time atmospheric pressure data in the detection field, and the real-time atmospheric pressure data is transmitted to the back end through a cable, and the back end controls the working status of the space dimension measuring instrument, and the touch screen displays the real-time atmospheric pressure data. The air pressure detector is fixed to the inside of the detection aircraft on the top of the base through the mounting hole on its back side, and the detection aircraft is arranged next to the mounting surface of the upper shell, and the detection aircraft space and the outside are in the same atmospheric environment, and a detachable transparent panel is provided above the air pressure detector.

[0015] A method for measuring the spatial dimensions of a flying target for detecting cabin sealing, comprising the following steps: S1: Accurately test the positional relationship between the trigger A and the receiver B using a target space dimension measuring instrument; S2: Prepare the collaborative robot program in advance and remotely control the program to execute in a loop. Each time the program is executed, the relative position relationship between the trigger A and the receiver B is calculated. S3: The collaborative robot program determines and analyzes the relative position relationship results, outputs and records the relative position relationship between trigger A and receiver B; The steps for calculating the relative position relationship between the trigger A and the receiver B are as follows: When the center axis is offset: Place the target space dimension measuring instrument at the center of the trigger A and receiver B, scan the surface data of the trigger A and receiver B to obtain two point cloud data, extract the corresponding center position from each point cloud data, calculate the distance between the two point cloud data, and obtain the offset of the center axis of the trigger A and receiver B; When the angle of the central axis deflects: Place the target space dimension measuring instrument at the center of the trigger A and receiver B, obtain two point cloud data by scanning the surface data of the trigger A and receiver B, extract the corresponding center position and main axis direction from each point cloud data, and calculate the angle between the two point cloud data to obtain the deflection angle of the central axis of the trigger A and receiver B; When the contact end surfaces of trigger A and receiver B are displaced: place the laser measuring instrument above or below trigger A and receiver B, obtain two point cloud data by scanning the surface data of trigger A and receiver B, extract the corresponding contact end surface from each point cloud data, and calculate the distance between the two point cloud data to obtain the displacement of the contact end surfaces of trigger A and receiver B.

[0016] The beneficial effects of the present invention are as follows: through a flying target space dimension measuring instrument and method for detecting cabin sealing, a three-dimensional laser scanner and a small robotic arm are combined to accurately detect the position relationship of components in the industrial manufacturing process; by compiling a collaborative robot program in advance, the laser measuring instrument is controlled to measure the component position data, the program is remotely controlled and executed in a loop, and the relative position relationship between the trigger A and the receiver B is calculated each time it is executed, thereby improving the detection efficiency and accuracy, the minimum measurement resolution is 0.02mm, and the measurement error is 0.015mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of a flying target space dimension measuring instrument.

[0018] Figure 2 This is the internal layout diagram of the machine base.

[0019] Figure 3 This is a diagram of the approximate dimensions of the receiver and trigger.

[0020] Figure 4 This is a schematic diagram of the distance between the trigger and receiver end faces.

[0021] Figure 5 It is a schematic diagram of the deviation between the firing axis and the center point of the receiver.

[0022] Figure 6 It is a schematic diagram of the angle between the trigger axis and the receiver axis.

[0023] In the figure, 1-base, 2-robotic arm, 3-3D scanner clamp, 4-3D laser scanner, 5-battery module, 6-control module, 7-display touch screen, 8-air pressure detector, 9-robotic arm protection cover, 10-upper shell, 11-lower shell, 12-battery rail, 13-fixed handle, 14-embedded handle, 15-battery box pull-out handle. DETAILED DESCRIPTION

[0024] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0025] As attached Figures 1 and 2 As shown, a flying target space dimension measuring instrument for detecting cabin sealing adopts modular design and overall packaging design, including a base 1, a mechanical arm 2, a 3D scanner holder 3, a 3D laser scanner 4, a battery module 5, a control module 6, a display touch screen 7, and an air pressure detector 8; The battery module 5, control module 6, display touch screen 7, and air pressure detector 8 are encapsulated inside the base 1; The display touch screen 7 is connected to the battery module 5, the control module 6, and the air pressure detector 8 through cables in a hidden wiring channel on the back; The robotic arm 2 is installed above the machine base 1, and the robotic arm 2 grabs the 3D laser scanner 4 through the 3D scanner holder 3 to perform spatial dimension measurement; The flying target space dimension measuring instrument is a ground test equipment. The environment has low requirements for vibration and impact of the base, and it only needs to meet the requirements of moving and transportation. The base 1 is divided into spaces and areas, and various functional modules are installed. The base 1 also includes a robotic arm protective cover 9, an upper shell 10, a lower shell 11, a battery guide rail 12, a fixed handle 13, an embedded handle 14, and a battery box pull-out handle 15.

[0026] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the battery module 5 is arranged on the back of the upper shell of the base 2, and the battery module 5 supplies power to the flying target space dimension measuring instrument; the battery guide rail 12 is arranged below the battery module 5, and the battery guide rail 12 supports the weight of the battery module 5, and the battery guide rail 12 is made of metal.

[0027] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein a positioning guide sleeve is provided at the end of the battery rail 12, and the positioning guide sleeve locks and fixes the battery module 5 on the battery rail 12 front and back, so that the battery module 5 has shock resistance.

[0028] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the robotic arm protective cover 9 covers the portion of the robotic arm 2 arranged above the upper shell 10, and the control module 6 is arranged on the back of the upper shell 10, and the control module 6 controls the grasping direction of the robotic arm 2.

[0029] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the mechanical arm 2 and the control module 6 are limited by a positioning block during installation, the mechanical arm 2 and the control module 6 are fixed to the reinforcement surface of the machine base 1 by screws, the mechanical arm 2 and the control module 6 are partially streamlined, the mechanical arm 2 and the control module 6 are made of sheet metal, and decorative strips and sealing strips are provided at the joints of the mechanical arm 2 and the control module (6).

[0030] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the display touch screen 7 is fixed by an adjustable dual-axis bracket, and the display touch screen 7 is embedded in the mounting surface of the upper shell 10, and the display touch screen 7 is flush with the mounting surface for easy transportation; the adjustable dual-axis bracket adopts a gravity optimization design and is made of corrosion-resistant steel plate, which is beautiful and practical, and the adjustable dual-axis bracket can adjust the height and the overhead angle.

[0031] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the control module 6 is connected to the robotic arm 2 via a cable, a cable hole is provided at the cable connection point, and a cable tie is used to bind the cable for routing. A cable hole is provided at the cable connection point, and a cable tie is used to bind the cable for routing.

[0032] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the fixed handle 13, the embedded handle 14, and the battery box pull-out handle 15 are arranged on the outer surface of the lower shell 10, and the battery module 5 is replaced through the battery box pull-out handle 15, and the machine base 1 is carried through the fixed handle 13 and the embedded handle 14.

[0033] Furthermore, a flying target space dimension measuring instrument for detecting cabin sealing is provided, wherein the air pressure detector 8 detects real-time atmospheric pressure data in the detection field, and the real-time atmospheric pressure data is transmitted to the back end through a cable, and the back end controls the working state of the space dimension measuring instrument, and the display touch screen 7 displays the real-time atmospheric pressure data. The air pressure detector 8 is fixed to the inside of the detection aircraft on the top of the base 1 through the mounting hole on the back thereof, and the detection aircraft is arranged next to the mounting surface of the upper shell 10. The detection aircraft space and the outside are in the same atmospheric environment, and a detachable transparent panel is provided above the air pressure detector 8 for easy observation and adjustment.

[0034] Furthermore, a flying target spatial dimension measuring instrument for detecting cabin sealing can measure a minimum resolution of 0.02mm, a distance measurement error of 0.015mm, and a calculated angle error of 0.01°. The relative position relationship between the trigger A and the receiver B is automatically calculated through a program.

[0035] A method for measuring the spatial dimensions of a flying target for detecting cabin sealing, comprising the following steps: S1: Accurately test the positional relationship between the trigger A and the receiver B using a target space dimension measuring instrument; S2: Prepare the collaborative robot program in advance and remotely control the program to execute in a loop. Each time the program is executed, the relative position relationship between the trigger A and the receiver B is calculated. S3: The collaborative robot program determines and analyzes the relative position relationship results, and outputs and records the relative position relationship between trigger A and receiver B.

[0036] As attached Figure 3 As shown, trigger A and receiver B are concentrically positioned. Several positional offsets of trigger A and receiver B need to be measured: 1. Displacement of the central axis; 2. Deflection of the central axis, resulting in an angle between the axes of trigger A and receiver B; 3. Displacement of the contacting end surfaces of trigger A and receiver B, resulting in an upward and downward displacement of t. Using 3D laser modeling of trigger A and receiver B, these quantities can be determined.

[0037] There are two states of positional relationship between the receiver and the firing actuator: In state 1 and state 2, the test needs to detect the distance between the two end faces of the receiver and the trigger in the height direction, the deviation between the trigger axis and the center point of the receiver in the horizontal direction, and the angle between the trigger axis and the receiver axis.

[0038] As attached Figure 4 As shown, when the contact end surfaces of trigger A and receiver B are displaced: a laser measuring instrument is placed above or below trigger A and receiver B, and two point cloud data are obtained by scanning the surface data of trigger A and receiver B. The corresponding contact end surface is extracted from each point cloud data, and the distance between the two point cloud data is calculated to obtain the displacement of the contact end surface of trigger A and receiver B.

[0039] As attached Figure 5 As shown, when the central axis is offset: place the target space dimension measuring instrument at the center of the trigger A and receiver B, obtain two point cloud data by scanning the surface data of the trigger A and receiver B, extract the corresponding center position from each point cloud data, calculate the distance between the two point cloud data, and obtain the offset of the central axis of the trigger A and receiver B; As attached Figure 6 As shown, when the angle of the central axis deflects: place the target space dimension measuring instrument at the center of the trigger A and the receiver B, obtain two point cloud data by scanning the surface data of the trigger A and the receiver B, extract the corresponding center position and main axis direction from each point cloud data, and calculate the angle between the two point cloud data to obtain the deflection angle of the central axis of the trigger A and the receiver B; It should be noted that during the test, the above-mentioned angle changes, height dimension changes and horizontal position changes will occur mixedly, and the test equipment is required to detect the changes and split them into three types of changes for separate judgment. In actual flight, the receiver is placed on the cabin cover and the trigger is placed on the side walls on both sides of the cockpit.

[0040] This solution uses a flying target space dimension measuring instrument and method for detecting cabin sealing, and adopts a combination of a three-dimensional laser scanner and a small robotic arm to accurately detect the positional relationship of components in the industrial manufacturing process. By compiling a collaborative robot program in advance, the laser measuring instrument is controlled to measure the component position data, and the program is remotely controlled and executed in a loop. The relative position relationship between the trigger A and the receiver B is calculated each time it is executed, which improves the detection efficiency and accuracy. The minimum measurement resolution is 0.02mm and the measurement error is 0.015mm.

[0041] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A flying target space dimension measuring instrument for detecting cabin sealing, characterized in that: It includes a base (1), a robotic arm (2), a three-dimensional scanner holder (3), a three-dimensional laser scanner (4), a battery module (5), a control module (6), a display touch screen (7), and an air pressure detector (8); The battery module (5), control module (6), display touch screen (7), and air pressure detector (8) are encapsulated inside the base (1); The display touch screen (7) is connected to the battery module (5), the control module (6), and the air pressure detector (8) via cables in a hidden wiring channel on the back; The robotic arm (2) is installed above the machine base (1), and the robotic arm (2) grabs the three-dimensional laser scanner (4) through the three-dimensional scanner holder (3) to perform spatial dimension measurement; The base (1) further comprises a mechanical arm protective cover (9), an upper shell (10), a lower shell (11), a battery guide rail (12), a fixed handle (13), an embedded handle (14), and a battery box pull-out handle (15).

2. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The battery module (5) is arranged on the back of the upper shell of the machine base (2), and the battery module (5) supplies power to the target space dimension measuring instrument; the battery guide rail (12) is arranged below the battery module (5), and the battery guide rail (12) supports the weight of the battery module (5), and the battery guide rail (12) is made of metal.

3. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 2, characterized in that: A positioning guide sleeve is provided at the end of the battery guide rail (12), and the positioning guide sleeve locks the battery module (5) front and back on the battery guide rail (12), so that the battery module (5) has shock resistance.

4. A flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The robotic arm protective cover (9) covers the portion of the robotic arm (2) disposed above the upper housing (10), and the control module (6) is disposed on the back of the upper housing (10). The control module (6) controls the grasping direction of the robotic arm (2).

5. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The mechanical arm (2) and the control module (6) are limited by a positioning block during installation. The mechanical arm (2) and the control module (6) are fixed to the reinforcement surface of the machine base (1) by screws. The mechanical arm (2) and the control module (6) are partially streamlined. The mechanical arm (2) and the control module (6) are made of sheet metal. Decorative strips and sealing strips are provided at the joints between the mechanical arm (2) and the control module (6).

6. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The display touch screen (7) is fixed by an adjustable dual-axis bracket, and the display touch screen (7) is embedded in the mounting surface of the upper shell (10), and the display touch screen (7) is flush with the mounting surface; the adjustable dual-axis bracket adopts a gravity optimization design and is made of corrosion-resistant steel plate. The adjustable dual-axis bracket can adjust the height and the top-view angle.

7. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The control module (6) is connected to the robot arm (2) via a cable, a cable hole is provided at the cable connection point, and a cable tie is used to bind the cable. The cable connection point is provided with a cable hole, and the cable tie is used to bind the cable.

8. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The fixed handle (13), the embedded handle (14), and the battery box pull-out handle (15) are arranged on the outer surface of the lower shell (10); the battery module (5) is replaced by the battery box pull-out handle (15), and the machine base (1) is carried by the fixed handle (13) and the embedded handle (14).

9. The flying target space dimension measuring instrument for detecting cabin sealing according to claim 1, characterized in that: The air pressure detector (8) detects real-time atmospheric pressure data in the detection field. The real-time atmospheric pressure data is transmitted to the back end through a cable. The back end controls the working state of the space dimension measuring instrument. The display touch screen (7) displays the real-time atmospheric pressure data. The air pressure detector (8) is fixed to the inside of the detection aircraft on the top of the machine base (1) through the mounting hole on the back thereof. The detection aircraft is set next to the mounting surface of the upper shell (10). The detection aircraft space and the outside are in the same atmospheric environment. A detachable transparent panel is provided above the air pressure detector (8).

10. A method for measuring the spatial dimensions of a flying target for detecting cabin sealing, implemented based on the flying target spatial dimensions measuring instrument for detecting cabin sealing according to any one of claims 1 to 9, characterized in that: The steps are: S1: Accurately test the positional relationship between the trigger A and the receiver B using a target space dimension measuring instrument; S2: Prepare the collaborative robot program in advance and remotely control the program to execute in a loop. Each time the program is executed, the relative position relationship between the trigger A and the receiver B is calculated. S3: The collaborative robot program determines and analyzes the relative position relationship results, outputs and records the relative position relationship between trigger A and receiver B; The steps for calculating the relative position relationship between the trigger A and the receiver B are as follows: When the center axis is offset: Place the target space dimension measuring instrument at the center of the trigger A and receiver B, scan the surface data of the trigger A and receiver B to obtain two point cloud data, extract the corresponding center position from each point cloud data, calculate the distance between the two point cloud data, and obtain the offset of the center axis of the trigger A and receiver B; When the angle of the central axis deflects: Place the target space dimension measuring instrument at the center of the trigger A and receiver B, obtain two point cloud data by scanning the surface data of the trigger A and receiver B, extract the corresponding center position and main axis direction from each point cloud data, and calculate the angle between the two point cloud data to obtain the deflection angle of the central axis of the trigger A and receiver B; When the contact end surfaces of trigger A and receiver B are displaced: place the laser measuring instrument above or below trigger A and receiver B, obtain two point cloud data by scanning the surface data of trigger A and receiver B, extract the corresponding contact end surface from each point cloud data, and calculate the distance between the two point cloud data to obtain the displacement of the contact end surfaces of trigger A and receiver B.

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