Three-dimensional large component assemblability evaluation method based on point-surface fusion

Abstract

The invention belongs to the technical field of integrated control, and particularly relates to a three-dimensional large component assemblability evaluation method based on point-surface fusion, and the method comprises the following steps: arranging fixed feature points on the surface of a three-dimensional large component, and numbering the fixed feature points; establishing a global coordinate system, and obtaining coordinate values of the feature points; constructing a plane equation of a plane; calculating a plane normal vector formed by the three points; solving an included angle formed by the normal direction vector; obtaining theoretical coordinate values of the corresponding feature points in a digital model; solving a plane direction vector of the three-dimensional large component; solving an included angle formed by all normal direction vectors; performing comparison processing on the theoretical plane normal direction vector and the actually measured plane normal direction vector included angle; if the error tolerance requirement is met, assembling is successfully achieved. According to the method, the measurement efficiency is improved by arranging the fixed measurement feature points, the point location data can be detected by the laser tracker only through scanning, and the working efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of integrated control technology, and specifically relates to a method for evaluating the assemblability of large three-dimensional components based on point-surface fusion. Background Art

[0002] In the field of digital posture adjustment and assembly of large components, two groups of CNC positioner units are generally used to support two large components respectively. Then each group of CNC positioners adjusts the large components from the current support position to the theoretical state through coordinated movement. Finally, the two groups of large components are aligned and assembled.

[0003] In the prior art, for example, there is a Chinese invention patent with publication number CN112977874A, entitled "Integrated Movable Large Component Docking and Finishing System," which discloses an integrated movable large component docking and finishing system, belonging to the field of aircraft CNC assembly technology. It includes a fuselage positioning unit, a wing docking and finishing unit, a laser measurement unit, and an integrated control unit. First, the fuselage is transported to its designated location and positioned and fixed using the fuselage positioning unit. The fuselage's attitude is measured using a laser tracker, and the integrated control unit adjusts the attitude. The aircraft's outer wings are then mounted and secured, and the wing docking and finishing platform moves the outer wings to the assembly station. Subsequently, the laser tracker is used to measure and perform virtual pre-docking. The finishing equipment's attitude is adjusted based on the laser tracker data, and the finishing equipment processes the intersection hole at the bottom of the mating surface. The skin at the mating point is then manually trimmed and installed. After the outer wings are docked, the bracket is released, and the fuselage is transported to the storage station. Although the above patent can simplify the positioning process of the entire docking process, the problem of being unable to adjust the large component from the actual posture to the theoretical posture due to the early manufacturing errors and the deformation errors of the large component itself are not taken into account in the entire assembly process. As a result, the large component cannot maintain its posture state within the assembly accuracy limit after the posture adjustment due to its own reasons, and thus the assembly of the large component cannot be completed, affecting the subsequent normal assembly production cycle. At the same time, there is currently no effective way to judge the evaluation method of the assemblability of large-size components. Summary of the Invention

[0004] The present application solves the above-mentioned defects and problems in the prior art and provides a method for evaluating the assemblability of large three-dimensional components based on point-surface fusion.

[0005] To achieve the above effects, the technical solutions of this application are as follows: A method for evaluating the assemblability of large three-dimensional components based on point-surface fusion includes the following steps: Step 1: Arrange n fixed feature points on the surface of a large three-dimensional component where they can be measured and number them; Step 2: Establish a global coordinate system, measure the fixed feature points arranged on the large component, and obtain the coordinate values of the feature points; Step 3: Based on the coordinate values of the feature points, construct the plane equation of the plane with any three feature points; Step 4: Calculate the plane normal vectors formed by all three points among the n points on the surface of the three-dimensional component; Step 5: Calculate the angle formed by every two normal direction vectors; Step 6: Obtain theoretical coordinate values of n characteristic points of the corresponding three-dimensional large component digital model in the digital model of the same three-dimensional large component; Step 7: The coordinate values of each feature point on each plane under the theoretical state are used to form the plane normal direction vector, and the plane direction vector of the three-dimensional large component is solved; Step 8: Based on the plane normal direction vectors constructed from all three feature points in the large component digital model, calculate the angle formed by every two normal direction vectors; Step 9: Compare the angles between the theoretical plane normal direction vectors constructed by all three points of the surface feature points of the calculated three-dimensional large component model and the measured plane normal direction vectors constructed by all three points of the surface feature points of the actual three-dimensional large component; Step 10: An angular error is evaluated by comparing the difference between the theoretical angle between the two theoretical planes and the calculated angle between the corresponding two actual planes. If the error tolerance requirement is met, the actual three-dimensional large component can be successfully assembled. Step 11: If the angle error does not meet the error tolerance requirement, the actual three-dimensional large component cannot be successfully assembled. The actual large component needs to be returned to the previous process for correction processing. After the processing is completed, proceed to steps 1 to 10.

[0006] Furthermore, the step 1 is specifically as follows: Arrange n fixed feature points where the surface of a large three-dimensional component can be measured, where n ≥ 4, and number them in a certain order. For No. 1, For No. 2, ..., and so on, is the nth point, and all feature points do not exist and there are no three points on a straight line.

[0007] Furthermore, the step 2 is specifically as follows: Use the laser tracker to establish a global coordinate system, and use the laser tracker to measure the fixed feature points arranged on the large component, and obtain the coordinate values of the n feature points in step 1, corresponding to the n three-dimensional coordinate values , , ,…… , ; in, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system; and so on. middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system.

[0008] Furthermore, the step 3 is specifically as follows: based on the coordinate values of the n feature points measured in step 2, a plane can be constructed with any three feature points. Plane equations (any three of n points can form a plane), select any three feature points i, j, k as a set of points, where i, j, k are three different points in 1-n, and the coordinate values of the three feature points i, j, k are , , , plane is constructed through the above three feature points; in, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point Z-direction coordinate value in the coordinate system; middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point Z-direction coordinate value in the coordinate system; middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system.

[0009] Furthermore, the following description is made: From the above three feature points i, j, and k, we can get: vector ,vector ; flat Normal vector ; flat equation: ; in express , , The X-direction component of the plane normal vector formed by the three points, where express , , The Y-direction component of the plane normal vector formed by the three points, where express , , The Z-direction component of the plane normal vector formed by the three points; i, j, k are positive integers and are not equal to each other.

[0010] Furthermore, the step 4 is specifically as follows: according to the method of solving the plane equation and the plane normal vector formed by three points in step 3, the plane normal vector formed by all three points on the surface of the three-dimensional component is calculated, and the total A plane normal direction vector, and the following description; flat The normal vector of :

[0011] flat The normal vector of :

[0012] flat The normal vector of :

[0013] … flat The normal vector of :

[0014] flat The normal vector of :

[0015] flat The normal vector of :

[0016] … flat The normal vector of :

[0017] … flat The normal vector of :

[0018] flat The normal vector of :

[0019] flat The normal vector of :

[0020] in Indicates a point , , The plane formed, and so on Indicates a point , , The plane of composition; Representation plane The normal direction vector, in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component vector of the vector in the Z direction of the coordinate system, and so on. in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component of the vector in the Z direction of the coordinate system.

[0021] Furthermore, the step 5 is specifically as follows: according to the plane normal direction vectors constructed by all three points in step 4, solve the common direction vectors formed by all two normal direction vectors. An angle exists between every two planes, which can be described by the following form: flat and plane The angle between the normal direction vector and the direction vector of

[0022] flat and plane The angle between the normal direction vector and the direction vector of

[0023] … flat and plane The angle between the normal direction vector and the direction vector of

[0024] … flat and plane The angle between the normal direction vector and the direction vector of

[0025] … flat and plane The angle between the normal direction vector and the direction vector of

[0026] … flat and plane The angle between the normal direction vector and the direction vector of

[0027] flat and plane The angle between the normal direction vectors of : .

[0028] Furthermore, the step 6 is specifically as follows: in the digital model of the same three-dimensional large component, the fixed feature points are arranged on the surface in the same order and quantity as those in step 1, and the theoretical coordinate values of the n feature points of the corresponding three-dimensional large component digital model are obtained. , , ,…… , ; Similarly, among them, Represents the coordinates of the nth feature point of a large three-dimensional component in a digital model. Indicates the coordinate in the X direction in the coordinate system, Represents the coordinate in the Y direction of the coordinate system, Indicates the coordinate in the Z direction in the coordinate system.

[0029] Furthermore, the step 7 is specifically as follows: according to the coordinate values of each feature point of each plane of the three-dimensional large component in the theoretical state in step 6 and the method of calculating the plane and the plane normal direction vector provided in step 3, the individual The plane normal direction vector, the plane direction vector of the three-dimensional large component is solved as follows, the order is the same as step 4; flat The normal vector of :

[0030] flat The normal vector of :

[0031] flat The normal vector of :

[0032] … flat The normal vector of :

[0033] flat The normal vector of :

[0034] flat The normal vector of :

[0035] … flat The normal vector of :

[0036] … flat The normal vector of :

[0037] flat The normal vector of :

[0038] flat The normal vector of :

[0039] in Indicates a point , , The plane formed, and so on Indicates a point , , The plane formed, Representation plane The normal direction vector, in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component vector of the vector in the Z direction of the coordinate system, and so on. in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component of the vector in the Z direction of the coordinate system.

[0040] Furthermore, the step 8 is specifically as follows: according to the plane normal direction vectors constructed by all three points of the feature points in the large component digital model in step 7, solve the common direction vectors formed by all two normal direction vectors. An angle is described in the following form: flat and plane The angle between the normal direction vector and the direction vector of

[0041] flat and plane The angle between the normal direction vector and the direction vector of

[0042] … flat and plane The angle between the normal direction vector and the direction vector of

[0043] … flat and plane The angle between the normal direction vector and the direction vector of

[0044] … flat and plane The angle between the normal direction vector and the direction vector of

[0045] … flat and plane The angle between the normal direction vector and the direction vector of

[0046] flat and plane The angle between the normal direction vectors of : .

[0047] Furthermore, step 9 specifically comprises: comparing the angle between the normal direction vector of the theoretical plane constructed by all three points of the surface feature points of the three-dimensional large component model calculated in step 8 and the normal direction vector of the measured plane constructed by all three points of the surface feature points of the actual three-dimensional large component;

[0048]

[0049] …

[0050]

[0051] …

[0052] …

[0053] in Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; and so on Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors.

[0054] Furthermore, step 10 specifically includes: performing an angle error assessment based on the difference between the theoretical angle between the two theoretical planes in step 9 and the calculated angle between the corresponding two actual planes. If the difference meets the error tolerance requirement, the actual three-dimensional large component can be successfully assembled.

[0055]

[0056] …

[0057]

[0058] …

[0059] …

[0060]

[0061] in, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Is the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value for the difference in angles between plane direction vectors.

[0062] Furthermore, step 11 specifically includes: if the angle error in step 10 does not meet the error tolerance requirement, the actual three-dimensional large component cannot be successfully assembled, and the actual large component needs to be returned to the previous process for correction processing. After the processing is completed, the work of steps 1 to 10 is carried out; Furthermore, the fixed feature points on the large three-dimensional component are evenly distributed in all directions of space.

[0063] Furthermore, each face of the three-dimensional component is a plane, and at least three planes need to be evaluated, and the three planes are skew planes.

[0064] Furthermore, the laser tracker needs to have stable performance and be adaptable to harsh environments.

[0065] The beneficial effects of this application are: 1. Improved operating efficiency. The present invention improves measurement efficiency by arranging fixed measurement feature points. The laser tracker only needs to scan to detect point data, thereby improving operating efficiency.

[0066] 2. Early judgment of assembly feasibility: The present invention adopts a point-surface fusion evaluation method to predict the shape error of large three-dimensional components in advance, and provides assembly feasibility before formal assembly.

[0067] 3. More accurate guidance of processing: the present invention can preliminarily determine the parts of the three-dimensional large parts that are deformed in shape, and more accurately provide areas for secondary processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Figure 1It is a schematic diagram of an actual three-dimensional large component carried on a numerically controlled positioner involved in the present invention.

[0069] Figure 2 It is a schematic diagram of an actual three-dimensional large component involved in the present invention.

[0070] Figure 3 It is a digital model schematic diagram of the three-dimensional large component involved in the present invention. DETAILED DESCRIPTION

[0071] Example 1 The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0072] The present invention is applicable to the field of large component processing / assembly, and improves the quality and efficiency of large component assembly by evaluating the assemblability of three-dimensional large components based on point-surface fusion.

[0073] The specific implementation steps are as follows: Figure 1 1 is a laser tracker, 2 is an actual three-dimensional large component, 3 is feature points arranged on the three-dimensional large component, and 4 is a three-axis CNC positioner.

[0074] Figure 2 2 is the actual three-dimensional large component, 3 is the feature points arranged on the three-dimensional large component, 7 is the normal vector perpendicular to the plane formed by the three actual feature points, and 8 is the angle between the two normal vectors of the two planes in reality.

[0075] Figure 3 In the figure, 9 is the three-dimensional large component in the digital model, 10 is the characteristic point arranged on the digital model of the three-dimensional large component, 11 is the angle between the two normal vectors of two planes in the digital model, and 12 is the angle between the two normal vectors of the other two planes in the digital model.

[0076] Step 1: Figure 1 The laser tracker on the surface of a large three-dimensional component can be measured by arranging four fixed feature points and numbering them in a certain order. For No. 1, For No. 2, For No. 3, It is No. 4, and the feature points do not exist at the same time. There are no three points on a straight line; Step 2: Use the laser tracker to establish a global coordinate system, and use the laser tracker to measure the fixed feature points arranged on the large component and obtain the corresponding 4 three-dimensional coordinate values , , , ; in, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system; and so on. middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system.

[0077] Step 3: Based on the coordinate values of the four feature points measured in step 2, a plane can be constructed using any three feature points. A plane equation, select any three feature points 1, 2, 3 as a set of points, the coordinate values of the three feature points 1, 2, 3 are , , , the plane is constructed through the above three feature points, and the following related descriptions are made; From the above three feature points 1, 2, and 3, we can get: vector ,vector ; flat Normal vector ; flat equation: ; in express , , The X-direction component of the plane normal vector formed by the three points, where express , , The Y-direction component of the plane normal vector formed by the three points, where express , , The Z component of the plane normal formed by the three points.

[0078] Step 4: Based on the method of solving the plane equation and plane normal vector of three points in step 3, calculate the plane normal vector of all three points on the surface of the three-dimensional component. A plane normal direction vector, and the following description; flat The normal vector of :

[0079] flat The normal vector of :

[0080] flat The normal vector of :

[0081] flat The normal vector of :

[0082] in Yes , , The plane formed, Yes , , The plane formed, Yes , , The plane formed, Yes , , The plane of composition; Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector.

[0083] Step 5: Based on the plane normal direction vectors constructed by all three points in step 4, solve the common direction vectors formed by every two normal direction vectors. An angle is described in the following form: flat and plane The angle between the normal direction vector and the direction vector of

[0084] flat and plane The angle between the normal direction vector and the direction vector of

[0085] flat and plane The angle between the normal direction vector and the direction vector of

[0086] flat and plane The angle between the normal direction vector and the direction vector of

[0087] flat and plane The angle between the normal direction vector and the direction vector of

[0088] flat and plane The angle between the normal direction vector and the direction vector of

[0089] Step 6: In the digital model of the same three-dimensional large component, arrange fixed feature points on its surface in the same order and quantity as in step 1, and obtain the theoretical coordinate values of the four feature points of the corresponding three-dimensional large component digital model. , , , ; Step 7: Based on the coordinate values of each feature point of each plane of the three-dimensional large component in the theoretical state in step 6 and the method of calculating the plane and the plane normal direction vector provided in step 3, the individual The plane normal direction vector, the plane direction vector of the three-dimensional large component is solved as follows, the order is the same as step 4; flat The normal vector of :

[0090] flat The normal vector of :

[0091] flat The normal vector of :

[0092] flat The normal vector of :

[0093] in Yes , , The plane formed, Yes , , The plane formed, Yes , , The plane formed, Yes , , The plane formed, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector, Representation plane The X-direction component of the normal vector, where Representation plane The Y component of the normal vector, where Representation plane The Z component of the normal vector.

[0094] Step 8: Based on the plane normal direction vectors constructed by all three points of the feature points in the large component digital model in step 7, solve the common direction vectors formed by every two normal direction vectors. An angle is described in the following form: flat and plane The angle between the normal direction vector and the direction vector of

[0095] flat and plane The angle between the normal direction vector and the direction vector of

[0096] flat and plane The angle between the normal direction vector and the direction vector of

[0097] flat and plane The angle between the normal direction vector and the direction vector of

[0098] flat and plane The angle between the normal direction vector and the direction vector of

[0099] flat and plane The angle between the normal direction vector and the direction vector of

[0100] Step 9: Compare the theoretical plane normal direction vectors constructed by all three points of the surface feature points of the three-dimensional large component model calculated in Step 8 with the measured plane normal direction vectors constructed by all three points of the surface feature points of the actual three-dimensional large component;

[0101]

[0102]

[0103]

[0104]

[0105]

[0106] in Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; and so on, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors.

[0107] Step 10: An angular error is evaluated based on the difference between the theoretical angle between the theoretical planes in step 9 and the calculated angle between the actual planes. If the error tolerance requirement is met, the actual three-dimensional large component can be successfully assembled.

[0108]

[0109]

[0110]

[0111]

[0112]

[0113] in, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value for the difference in angles between plane direction vectors.

[0114] Step 11: If the angle error in step 10 does not meet the error tolerance requirement, the actual three-dimensional large component cannot be successfully assembled. The actual large component needs to be returned to the previous process for correction processing. After the processing is completed, the work of steps 1-10 can be carried out.

[0115] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for evaluating the assemblability of three-dimensional large components based on point-surface fusion, characterized in that: The steps include: Step 1: Arrange n fixed feature points on the surface of a large three-dimensional component where they can be measured and number them; Step 2: Establish a global coordinate system, measure the fixed feature points arranged on the large component, and obtain the coordinate values of the feature points; Step 3: Based on the coordinate values of the feature points, construct the plane equation of the plane with any three feature points; Step 4: Calculate the plane normal vectors formed by all three points among the n points on the surface of the three-dimensional component; Step 5: Calculate the angle formed by every two normal direction vectors; Step 6: Obtain theoretical coordinate values of n characteristic points of the corresponding three-dimensional large component digital model in the digital model of the same three-dimensional large component; Step 7: The coordinate values of each feature point on each plane under the theoretical state are used to form the plane normal direction vector, and the plane direction vector of the three-dimensional large component is solved; Step 8: Based on the plane normal direction vectors constructed from all three feature points in the large component digital model, calculate the angle formed by every two normal direction vectors; Step 9: Compare the angles between the theoretical plane normal direction vectors constructed by all three points of the surface feature points of the calculated three-dimensional large component model and the measured plane normal direction vectors constructed by all three points of the surface feature points of the actual three-dimensional large component; Step 10: An angular error is evaluated by comparing the difference between the theoretical angle between the two theoretical planes and the calculated angle between the corresponding two actual planes. If the error tolerance requirement is met, the actual three-dimensional large component can be successfully assembled. Step 11: If the angle error does not meet the error tolerance requirement, the actual three-dimensional large component cannot be successfully assembled. The actual large component needs to be returned to the previous process for correction processing. After the processing is completed, proceed to steps 1 to 10.

2. A method for evaluating the assemblability of three-dimensional large components based on point-surface fusion according to claim 1, characterized in that: The step 1 is specifically as follows: Arrange n fixed feature points on the measurable surface of a large three-dimensional component, where n ≥ 4, and number them in sequence. For No. 1, For No. 2, ..., is the nth point, and all feature points do not exist and there are no three points on a straight line.

3. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 2, characterized in that: The step 2 is specifically as follows: Use the laser tracker to establish a global coordinate system, and use the laser tracker to measure the fixed feature points arranged on the large component, and obtain the coordinate values of the n feature points in step 1, corresponding to the n three-dimensional coordinate values , , ,…… , ; in, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system; and so on. middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system.

4. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 3, characterized in that: The step 3 is specifically as follows: based on the coordinate values of the n feature points measured in step 2, a plane can be constructed using any three feature points. Plane equations (any three of n points can form a plane), select any three feature points i, j, k as a set of points, where i, j, k are three different points in 1-n, and the coordinate values of the three feature points i, j, k are , , , plane is constructed through the above three feature points; in, middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point Z-direction coordinate value in the coordinate system; middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point Z-direction coordinate value in the coordinate system; middle Indicates a point The X-direction coordinate value in the coordinate system, Indicates a point The Y-direction coordinate value in the coordinate system, Indicates a point The Z-direction coordinate value in the coordinate system.

5. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 4, characterized in that: And make the following related description: From the above three feature points i, j, k, we can get: vector ,vector ; flat Normal vector ; flat equation: ; in express , , The X-direction component of the plane normal vector formed by the three points, where express , , The Y-direction component of the plane normal vector formed by the three points, where express , , The Z-direction component of the plane normal vector formed by the three points; i, j, k are positive integers and are not equal to each other.

6. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 5, characterized in that: The step 4 is specifically as follows: according to the method of solving the plane equation and the plane normal vector formed by three points in step 3, the plane normal vector formed by all three points on the surface of the three-dimensional component is calculated, and the total A plane normal direction vector, and the following description; flat The normal vector of : flat The normal vector of : flat The normal vector of : …… flat The normal vector of : flat The normal vector of : flat The normal vector of : …… flat The normal vector of : …… flat The normal vector of : flat The normal vector of : flat The normal vector of : in Indicates a point , , The plane formed, and so on Indicates a point , , The plane of composition; Representation plane The normal direction vector, in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component vector of the vector in the Z direction of the coordinate system, and so on. in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component of the vector in the Z direction of the coordinate system.

7. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 6, characterized in that: The step 5 is specifically as follows: according to the plane normal direction vectors constructed by all three points in step 4, solve the common direction vectors formed by every two normal direction vectors. An angle exists between every two planes, which can be described by the following form: flat and plane The angle between the normal direction vector and the direction vector of flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of flat and plane The angle between the normal direction vectors of : 。 8. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 7, characterized in that: The step 6 is specifically as follows: in the digital model of the same three-dimensional large component, the fixed feature points are arranged on the surface in the same order and quantity as those in step 1, and the theoretical coordinate values of the n feature points of the corresponding three-dimensional large component digital model are obtained. , , ,…… , ; Similarly, among them, Represents the coordinates of the nth feature point of a large three-dimensional component in a digital model. Indicates the coordinate in the X direction in the coordinate system, Represents the coordinate in the Y direction of the coordinate system, Indicates the coordinate in the Z direction in the coordinate system.

9. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 8, characterized in that: The step 7 is specifically as follows: according to the coordinate values of each feature point of each plane of the three-dimensional large component in the theoretical state in step 6 and the method of calculating the plane and the plane normal direction vector provided in step 3, the individual The plane normal direction vector, the plane direction vector of the three-dimensional large component is solved as follows, the order is the same as step 4; flat The normal vector of : flat The normal vector of : flat The normal vector of : …… flat The normal vector of : flat The normal vector of : flat The normal vector of : …… flat The normal vector of : …… flat The normal vector of : flat The normal vector of : flat The normal vector of : in Indicates a point , , The plane formed, and so on Indicates a point , , The plane formed, Representation plane The normal direction vector, in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component vector of the vector in the Z direction of the coordinate system, and so on. in represents the component of the vector in the X direction of the coordinate system, in Represents the component of the vector in the Y direction of the coordinate system, in Represents the component of the vector in the Z direction of the coordinate system.

10. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 9, characterized in that: The step 8 is specifically as follows: according to the plane normal direction vectors constructed by all three points of the feature points in the large component digital model in step 7, solve the common direction vectors formed by all two normal direction vectors. An angle is described in the following form: flat and plane The angle between the normal direction vector and the direction vector of flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of …… flat and plane The angle between the normal direction vector and the direction vector of flat and plane The angle between the normal direction vectors of : 。 11. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 10, characterized in that: The step 9 specifically comprises: comparing the angle between the theoretical plane normal direction vector constructed by all three points of the surface feature points of the three-dimensional large component model calculated in step 8 and the measured plane normal direction vector constructed by all three points of the surface feature points of the actual three-dimensional large component; …… …… …… in Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors; and so on Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The absolute value of the difference between the angles between the plane direction vectors.

12. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 11, characterized in that: Step 10 specifically includes: evaluating the angle error by comparing the difference between the theoretical angle between the two theoretical planes in step 9 and the calculated angle between the corresponding two actual planes. If the difference meets the error tolerance requirement, the actual three-dimensional large component can be successfully assembled. …… …… …… in, Indicates the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value of the difference between the angles between the plane direction vectors, Is the measured plane and measured plane The angle between the plane direction vector and the theoretical plane and theoretical plane The tolerance value for the difference in angles between plane direction vectors.

13. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 12, characterized in that: Specifically, step 11 is as follows: if the angle error in step 10 does not meet the error tolerance requirement, the actual three-dimensional large component cannot be successfully assembled, and the actual large component needs to be returned to the previous process for correction processing. After the processing is completed, the work of steps 1 to 10 is carried out.

14. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 1, characterized in that: The fixed feature points on the large three-dimensional component are evenly distributed in all directions of space.

15. The method for evaluating the assemblability of large three-dimensional components based on point-surface fusion according to claim 1, characterized in that: Each face of a three-dimensional component is a plane, and at least three planes need to be evaluated, and the three planes must be skew.

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