Heterogeneous test piece mounting device and automatic leveling and centering method

Abstract

The invention relates to the technical field of intelligent manufacturing and precise assembly, and discloses a heterogeneous test piece mounting device and an automatic leveling and centering method.A first camera, a second camera and a third camera are used for collecting image information of a heterogeneous test piece in the corresponding direction in the centering process, the collected image information is analyzed and processed, and the centering precision of the heterogeneous test piece is improved. And obtaining various deviations of the first connecting surface under the current mounting platform pose, and adjusting the pose of the first connecting surface by using a pose adjusting mechanism according to the deviation information until all the deviations are zero, thereby completing the leveling and centering of the heterogeneous test piece. The automatic leveling and centering method for heterogeneous test piece installation is high in automation degree, manual operation links can be reduced, and the posture adjusting and centering speed and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and precision assembly technology, and discloses a heterogeneous test piece mounting device and an automatic leveling and centering method. Background Technology

[0002] In the manufacturing of high-end equipment such as aero-engines, the installation of heterogeneous test pieces must meet stringent requirements for leveling and alignment accuracy. Traditional manual installation methods rely on operational experience, resulting in low efficiency (installation time for a single test piece exceeds 2 hours), poor accuracy stability (spatial position error often exceeds 0.5mm), and high safety risks. Existing automated assembly technologies are mostly designed for standardized parts, lacking adaptability to heterogeneous test pieces, and face technical bottlenecks in areas such as multi-degree-of-freedom collaborative attitude adjustment and real-time coordination between machine vision and actuators. Summary of the Invention

[0003] The purpose of this invention is to provide a heterogeneous test specimen installation device and an automatic leveling and centering method, which can automatically realize the centering adjustment during the installation process of heterogeneous test specimens and fixing parts, reduce manual operation steps, and improve the speed and efficiency of posture adjustment and centering.

[0004] To achieve the above-mentioned technical effects, the technical solution adopted by the present invention is as follows: An automatic leveling and centering method for installing heterogeneous test specimens, wherein the heterogeneous test specimens are fixed to a transport chassis via an installation platform of an attitude adjustment mechanism. A steering wheel mechanism is installed at the bottom of the transport chassis to move the chassis. After the transport chassis moves the heterogeneous test specimens fixed on the installation platform to a position where they mate with a fixing component, the attitude adjustment mechanism adjusts the position of the first connecting surface of the heterogeneous test specimens to align with the second connecting surface of the fixing component. The first and second connecting surfaces are respectively provided with mutually mating threaded holes. The leveling and centering method includes: Using the center point of the second connecting surface of the fastener as the origin, the line passing through the origin and perpendicular to the second connecting surface is the Y-axis, and the line passing through the origin and vertically perpendicular to the Y-axis is the Z-axis. The right-hand rule is used to determine the X-axis to establish a world coordinate system O-XYZ; wherein the second connecting surface is perpendicular to the horizontal plane. The heterogeneous test specimen is moved using a transport chassis so that the first connecting surface faces and approaches the second connecting surface; The projection coordinates of the center point of the first connecting surface on the XOZ plane are acquired using a first camera along the Y-axis. The first image information containing the first connecting surface and the second connecting surface is acquired on one side of the YOZ plane using a second camera facing the YOZ plane. The second image information containing the first connecting surface and the second connecting surface is acquired on the other side of the YOZ plane using a third camera facing the YOZ plane. Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, the rotational deviation of the first connecting surface around the Z-axis is analyzed and obtained. and the displacement deviation along the Y-axis between the first connecting surface and the second connecting surface. ; The coordinates of the upper and lower endpoints of the first connecting surface projected onto the YOZ plane, as well as the coordinates of the upper and lower endpoints of the second connecting surface projected onto the YOZ plane, are collected and analyzed to obtain the rotational deviation of the first connecting surface around the X-axis. ; Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, and the projected coordinates of the center point of the second connecting surface in the XOZ plane, the displacement deviation of the center point of the first connecting surface along the X-axis is obtained through analysis. and the displacement deviation of the center point of the first connecting surface along the Z-axis ; Collect the coordinate vectors of any two threaded hole pairs on the first and second connecting surfaces, and analyze to obtain the rotational deviation of the first connecting surface around the Y-axis. ; The pose of the first connecting surface on the mounting platform is adjusted using the pose adjustment mechanism, so that... , , , , , All values ​​are zero, completing the leveling and centering of the heterogeneous test specimen.

[0005] Furthermore, based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, the rotational deviation of the first connecting surface around the Z-axis is analyzed and obtained. and the displacement deviation along the Y-axis between the first connecting surface and the second connecting surface. The methods include: Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, a stereo matching algorithm is used to analyze and obtain the coordinates of the center point of the first connecting surface in the world coordinate system from the first image information. The coordinates of the center point of the second connecting surface in the world coordinate system And the coordinates of the center point of the first connecting surface in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system ; use The rotational deviation of the first connecting surface around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface and the second connecting surface was calculated. ,in The distance between the center points of the first and second connecting surfaces on the X-axis is the projection distance between them.

[0006] Furthermore, based on the projected coordinates of the center point of the first connecting surface in the XOZ plane and the projected coordinates of the center point of the second connecting surface in the XOZ plane, the displacement deviation of the center point of the first connecting surface along the X-axis is analyzed and obtained. and the displacement deviation of the center point of the first connecting surface along the Z-axis The methods include: according to The displacement deviation of the center point of the first connecting surface along the X-axis was calculated. ; according to The displacement deviation of the center point of the first connecting surface along the Z-axis was calculated. .

[0007] Furthermore, the rotational deviation of the first connecting surface about the Y-axis was obtained through analysis. The methods include: Collect the first connection surface Coordinate vector of each threaded hole On the first connecting surface Coordinate vector of each threaded hole ; on the second connecting surface and the first The coordinate vector of the threaded hole that matches the threaded hole is The second connecting surface is connected to the first The coordinate vector of the threaded hole that matches the threaded hole is ; according to Analysis yielded the rotational deviation of the first connecting surface around the Y-axis. .

[0008] Furthermore, the rotational deviation of the first connecting surface about the X-axis was obtained through analysis. The methods include: Collect the coordinates of the upper endpoint of the first connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface projected onto the YOZ plane. ; according to Analysis yielded the rotational deviation of the first connecting surface around the X-axis. .

[0009] To achieve the above-mentioned technical effects, the present invention also provides a heterogeneous test specimen installation device for implementing the aforementioned automatic leveling and centering method for installing heterogeneous test specimens, comprising: The transport chassis has a steering wheel mechanism installed at its bottom to drive the transport chassis to move; An attitude adjustment mechanism is movably mounted above the transport chassis and is used to place heterogeneous test specimens via an installation platform; A clamping mechanism, fixed to the mounting platform, is used to clamp and fix the heterogeneous test specimen placed on the mounting platform; The first camera is used to acquire image information of the first or second connecting surface along the Y-axis. The second camera is positioned facing the YOZ plane and located on one side of the YOZ plane. It is used to acquire first image information containing the first connecting surface and the second connecting surface from the side perpendicular to the YOZ plane. The third camera is positioned facing the YOZ plane and located on the other side of the YOZ plane, opposite to the second camera. It is used to acquire second image information, including the first connecting surface and the second connecting surface, from a side perpendicular to the YOZ plane. The acquisition module is used to analyze the rotational deviation of the first connecting surface around the Z-axis under the current pose of the installation platform, based on the spatial positions of the first camera, the second camera, and the third camera in the world coordinate system, as well as the image information acquired by the first camera, the first image information acquired by the second camera, and the second image information acquired by the third camera. Displacement deviation along the Y-axis between the first connecting surface and the second connecting surface Rotational deviation of the first connecting surface around the X-axis Displacement deviation of the center point of the first connecting surface along the X-axis Displacement deviation of the center point of the first connecting surface along the Z-axis and the rotational deviation of the first connecting surface around the Y-axis ; The controller is used to determine the pose of the currently installed platform in the acquisition module. , , , , , The pose of the first connecting surface on the mounting platform is adjusted using the pose adjustment mechanism, so that... , , , , , All values ​​are zero, completing the leveling and centering of the heterogeneous test specimen.

[0010] A fastening actuator is used to apply fastening bolts to the threaded holes on the mating first and second connecting surfaces of the heterogeneous test piece and the fixing member after the first connecting surface of the heterogeneous test piece and the second connecting surface of the fixing member are aligned.

[0011] Furthermore, the acquisition module includes: The first data processing unit is configured to analyze and obtain the coordinates of the center point of the first connecting surface in the world coordinate system from the first image information using a stereo matching algorithm, based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system And the coordinates of the center point of the first connecting surface in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system ; and adopt The rotational deviation of the first connecting surface around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface and the second connecting surface was calculated. ,in The distance between the center points of the first connecting surface and the center points of the second connecting surface projected onto the X-axis; The second data processing unit is used to process the upper endpoint coordinates of the projection of the first connecting surface onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface projected onto the YOZ plane. ,use Analysis yielded the rotational deviation of the first connecting surface around the X-axis. ; The third data processing unit is used to process data based on the projected coordinates of the center point of the first connecting surface in the XOZ plane and the projected coordinates of the center point of the second connecting surface in the XOZ plane, using... The displacement deviation of the center point of the first connecting surface along the X-axis was calculated. ,use The displacement deviation of the center point of the first connecting surface along the Z-axis was calculated. ; The fourth data processing unit is used to process data based on the first connection surface. Coordinate vector of each threaded hole On the first connecting surface Coordinate vector of each threaded hole ; on the second connecting surface and the first The coordinate vector of the threaded hole that matches the threaded hole is The second connecting surface is connected to the first The coordinate vector of the threaded hole that matches the threaded hole is ,use Analysis yielded the rotational deviation of the first connecting surface around the Y-axis. .

[0012] Furthermore, the attitude adjustment mechanism includes at least three retractable legs, and the mounting platform is mounted above the transport chassis via the retractable legs. One end of each retractable leg is hinged to the transport chassis, and the other end of each retractable leg is hinged to the bottom of the mounting platform.

[0013] Compared with existing technologies, the advantages of this invention are as follows: This invention utilizes a first camera, a second camera, and a third camera to acquire image information of the heterogeneous test piece in corresponding directions during the alignment process. By analyzing and processing the acquired image information, various deviations of the first connecting surface under the current mounting platform pose are obtained. Based on these deviations, the pose of the first connecting surface is adjusted using an attitude adjustment mechanism until all deviations are zero, thus completing the leveling and alignment of the heterogeneous test piece. The automatic leveling and alignment method for heterogeneous test piece installation in this embodiment has a high degree of automation, reducing manual operation steps and improving the speed and efficiency of attitude adjustment and alignment. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the installation structure of the heterogeneous test specimen on the carrier chassis in Example 1 or 2; Figure 2 This is a schematic diagram of the heterogeneous test specimen mounting device in Example 1 or 2; Figure 3 This is a structural block diagram of the acquisition module in Example 1; Figure 4 This is a schematic diagram of the coordinate system of the moving platform in Example 2; Among them, 1. Heterogeneous test specimen; 101. First connecting surface; 2. Attitude adjustment mechanism; 201. Mounting platform; 202. Telescopic outrigger; 3. Transport chassis; 4. Fixing component; 401. Second connecting surface; 5. Threaded hole; 6. First camera; 7. Second camera; 8. Third camera; 9. Clamping mechanism; 10. Acquisition module; 1001. First data processing unit; 1002. Second data processing unit; 1003. Third data processing unit; 1004. Fourth data processing unit; 11. Controller; 12. Fastening actuator. Detailed Implementation

[0015] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0016] Example 1 See Figure 1 and Figure 2 An automatic leveling and centering method for installing a heterogeneous test specimen, wherein the heterogeneous test specimen 1 is fixed on a transport chassis 3 via an installation platform 201 of an attitude adjustment mechanism 2. A steering wheel mechanism is installed at the bottom of the transport chassis 3 to move the test specimen 1 fixed on the installation platform 201 to a position where it mates with a fixing member 4. The attitude adjustment mechanism 2 then adjusts the position of the first connecting surface 101 of the heterogeneous test specimen 1 to align with the second connecting surface 401 of the fixing member 4. The first connecting surface 101 and the second connecting surface 401 are respectively provided with mutually mating threaded holes 5. The leveling and centering method includes: With the center point of the second connecting surface 401 of the fastener 4 as the origin, the line passing through the origin and perpendicular to the second connecting surface 401 is the Y-axis, and the line passing through the origin and vertically perpendicular to the Y-axis is the Z-axis. The right-hand rule is used to determine the X-axis to establish the world coordinate system O-XYZ; wherein the second connecting surface 401 is perpendicular to the horizontal plane. The heterogeneous test specimen 1 is moved using the transport chassis 3 so that the first connecting surface 101 faces and approaches the second connecting surface 401; The first camera 6 along the Y-axis acquires the projection coordinates of the center point of the first connecting surface 101 on the XOZ plane. The second camera 7 facing the YOZ plane acquires first image information containing the first connecting surface 101 and the second connecting surface 401 on one side of the YOZ plane. The third camera 8 facing the YOZ plane acquires second image information containing the first connecting surface 101 and the second connecting surface 401 on the other side of the YOZ plane. Based on the projection coordinates of the center point of the first connecting surface 101 in the XOZ plane, the first image information, and the second image information, the rotational deviation of the first connecting surface 101 around the Z-axis is analyzed and obtained. and the displacement deviation along the Y-axis between the first connecting surface 101 and the second connecting surface 401. ; The coordinates of the upper and lower endpoints of the first connecting surface 101 projected onto the YOZ plane, as well as the coordinates of the upper and lower endpoints of the second connecting surface 401 projected onto the YOZ plane, are collected and analyzed to obtain the rotational deviation of the first connecting surface 101 around the X-axis. ; Based on the projected coordinates of the center point of the first connecting surface 101 in the XOZ plane and the projected coordinates of the center point of the second connecting surface 401 in the XOZ plane, the displacement deviation of the center point of the first connecting surface 101 along the X-axis is analyzed and obtained. and the displacement deviation of the center point of the first connecting surface 101 along the Z-axis ; Collect the coordinate vectors of any two pairs of threaded holes (5 pairs) on the first connecting surface 101 and the second connecting surface 401, and analyze to obtain the rotational deviation of the first connecting surface 101 around the Y-axis. ; The pose of the first connecting surface 101 on the mounting platform 201 is adjusted using the pose adjustment mechanism 2, so that... , , , , , All values ​​are zero, completing the leveling and centering of heterogeneous test piece 1.

[0017] In this embodiment, the first camera 6, the second camera 7, and the third camera 8 are used to acquire image information of the heterogeneous test piece 1 in the corresponding directions during the alignment process. By analyzing and processing the acquired image information, various deviations of the first connecting surface 101 under the current pose of the installation platform 201 are obtained. Based on these deviations, the pose of the first connecting surface 101 is adjusted using the attitude adjustment mechanism 2 until all deviations are zero, thus completing the leveling and alignment of the heterogeneous test piece 1. The automatic leveling and alignment method for installing the heterogeneous test piece 1 in this embodiment has a high degree of automation, which can reduce manual operation and improve the speed and efficiency of attitude adjustment and alignment.

[0018] Based on the same inventive concept, this embodiment also provides a heterogeneous test specimen installation device for implementing the aforementioned automatic leveling and centering method for installing the heterogeneous test specimen 1, including: The transport chassis 3 has a steering wheel mechanism installed at its bottom that drives the transport chassis 3 to move. The attitude adjustment mechanism 2 is movably installed above the transport chassis 3 and is used to place the heterogeneous test specimen 1 through the installation platform 201; The clamping mechanism 9 is fixed on the mounting platform 201 and is used to clamp and fix the heterogeneous test piece 1 placed on the mounting platform 201. The first camera 6 is used to acquire image information of the first connecting surface 101 or the second connecting surface 401 along the Y-axis; The second camera 7 is set facing the YOZ plane and is located on one side of the YOZ plane. It is used to acquire first image information including the first connecting surface 101 and the second connecting surface 401 from the side perpendicular to the YOZ plane. The third camera 8 is set facing the YOZ plane and is located on the other side of the YOZ plane, opposite to the second camera 7. It is used to acquire second image information including the first connecting surface 101 and the second connecting surface 401 from the side perpendicular to the YOZ plane. The acquisition module 10 is used to analyze the rotational deviation of the first connecting surface 101 around the Z-axis under the current pose of the installation platform 201 based on the spatial positions of the first camera 6, the second camera 7, and the third camera 8 in the world coordinate system, as well as the image information acquired by the first camera 6, the first image information acquired by the second camera 7, and the second image information acquired by the third camera 8. Displacement deviation along the Y-axis between the first connecting surface 101 and the second connecting surface 401 The first connecting surface 101 rotates around the X-axis with deviation. Displacement deviation of the center point of the first connecting surface 101 along the X-axis Displacement deviation of the center point of the first connecting surface 101 along the Z-axis and the rotational deviation of the first connecting surface 101 around the Y-axis ; Controller 11 is used to determine the pose of the currently installed platform 201 in the acquisition module 10. , , , , , The pose of the first connecting surface 101 on the mounting platform 201 is adjusted using the pose adjustment mechanism 2, so that... , , , , , All values ​​are zero, completing the leveling and centering of heterogeneous test piece 1.

[0019] The fastening actuator 12 is used to apply fastening bolts to the threaded holes 5 on the mating first connecting surface 101 and the second connecting surface 401 of the heterogeneous test piece 1 and the fixing piece 4 after they are aligned and engaged.

[0020] In this embodiment, the acquisition module 10 includes: The first data processing unit 1001 is configured to analyze and obtain the coordinates of the center point of the first connecting surface 101 in the world coordinate system in the first image information using a stereo matching algorithm, based on the projection coordinates of the center point of the first connecting surface 101 in the XOZ plane, the first image information, and the second image information. The coordinates of the center point of the second connecting surface 401 in the world coordinate system And the coordinates of the center point of the first connecting surface 101 in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface 401 in the world coordinate system ; and adopt The rotational deviation of the first connecting surface 101 around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface 101 and the second connecting surface 401 was calculated. ,in The distance between the center point of the first connecting surface 101 and the center point of the second connecting surface 401 on the X-axis; The second data processing unit 1002 is used to process the upper endpoint coordinates of the projection of the first connecting surface 101 onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface 101 projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface 401 projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface 401 projected onto the YOZ plane. ,use Analysis yielded the rotational deviation of the first connecting surface 101 around the X-axis. ; The third data processing unit 1003 is used to process data based on the projection coordinates of the center point of the first connecting surface 101 in the XOZ plane and the projection coordinates of the center point of the second connecting surface 401 in the XOZ plane, using... The displacement deviation of the center point of the first connecting surface 101 along the X-axis was calculated. ,use The displacement deviation of the center point of the first connecting surface 101 along the Z-axis was calculated. ; The fourth data processing unit 1004 is used to process data based on the first connection surface 101. The coordinate vector of threaded hole 5 On the first connecting surface 101 The coordinate vector of threaded hole 5 ; on the second connecting surface 401 and the first The coordinate vector of the threaded hole 5 that matches the threaded hole 5 is The second connecting surface 401 is connected to the first The coordinate vector of the threaded hole 5 that matches the threaded hole 5 is ,use Analysis yielded the rotational deviation of the first connecting surface 101 around the Y-axis. .

[0021] Example 2 This embodiment uses the installation of an aero-engine combustion chamber test piece as an example to provide a detailed description of the heterogeneous test piece installation device and automatic leveling and centering method of the present invention: I. The heterogeneous test specimen mounting device includes: 1. Omnidirectional transport chassis 3 Employing a four-wheel drive structure and equipped with a 48V / 200Ah lithium iron phosphate battery (range ≥4h), it achieves omnidirectional movement (straight-line travel, lateral translation, and rotation in place). It integrates a lidar sensor (270° detection range), anti-collision strips, and an emergency stop button, enabling safe movement in complex environments through an autonomous obstacle avoidance algorithm. The transport chassis 3 features retractable support legs on both sides, which unfold when parked to improve stability, with a load capacity ≥4t.

[0022] 2. Six-degree-of-freedom attitude adjustment mechanism It consists of a lower platform, an upper platform, and six electrically operated retractable outriggers 202. Each retractable outrigger 202 is connected at both ends by ball joints to achieve rotational freedom. Made of high-strength, lightweight alloy material, it has a load-bearing capacity >3t and can achieve: Rotation adjustment: Rotation angle around the X-axis and Z-axis ≥ ±3°; Translation adjustment: Horizontal / vertical travel > ±50mm, vertical travel > ±100mm.

[0023] 3. Clamping mechanism 9 The flexible, split-type fixture is equipped with an arc-shaped clamping part and a permanent magnet positioning component (adjustable adsorption force) that matches the heterogeneous test piece 1, making it suitable for flange-type test pieces with diameters of 500-1500mm. A self-locking mechanism maintains the clamping state, with clamping force control accuracy ≤±5%, preventing test piece deformation.

[0024] In this embodiment, rotation around the Y-axis is achieved by the support component of the coaxial rotation clamping mechanism 9. The support component supports the heterogeneous test piece on the one hand, and controls the heterogeneous test piece to rotate along the Y-axis to achieve the purpose of aligning the threaded holes on the other hand.

[0025] 4. Machine Vision Subsystem Include: The first camera 6 is arranged on the front of the test piece and is used to acquire image information (axis and threaded hole 5 features) of the first connecting surface 101 or the second connecting surface 401 along the Y-axis. The second camera 7 is set facing the YOZ plane and is located on one side of the YOZ plane. It is used to acquire first image information including the first connecting surface 101 and the second connecting surface 401 from the side perpendicular to the YOZ plane. The third camera 8 is set facing the YOZ plane and is located on the other side of the YOZ plane, opposite to the second camera 7. It is used to acquire second image information including the first connecting surface 101 and the second connecting surface 401 from the side perpendicular to the YOZ plane. The second camera 7 and the third camera 8 respectively acquire the side features of the heterogeneous test specimen 1. All cameras are synchronously triggered by hardware (synchronization error < 1ms), with a resolution of ≥ 5 million pixels, to ensure the consistency of image acquisition.

[0026] 5. Data Acquisition Module 10 Based on the spatial positions of the first camera 6, the second camera 7, and the third camera 8 in the world coordinate system, as well as the image information acquired by the first camera 6, the first image information acquired by the second camera 7, and the second image information acquired by the third camera 8, the rotation deviation of the first connecting surface 101 around the Z-axis under the current pose of the installation platform 201 is analyzed. Displacement deviation along the Y-axis between the first connecting surface 101 and the second connecting surface 401 The first connecting surface 101 rotates around the X-axis with deviation. Displacement deviation of the center point of the first connecting surface 101 along the X-axis Displacement deviation of the center point of the first connecting surface 101 along the Z-axis and the rotational deviation of the first connecting surface 101 around the Y-axis ; 6. Controller 11 Used to determine the pose of the currently installed platform 201 in the acquisition module 10 , , , , , The pose of the first connecting surface 101 on the mounting platform 201 is adjusted using the pose adjustment mechanism 2, so that... , , , , , All values ​​are zero, completing the leveling and centering of heterogeneous test piece 1. In this embodiment, the controller 11 adopts an "industrial computer + PLC + motion control card" architecture: the industrial computer runs image processing algorithms (ORB feature extraction, etc.) and path planning (particle swarm optimization algorithm); the PLC controls the steering wheel and electric retractable outrigger 202 via EtherCAT bus, with a response period ≤10ms; the motion control card receives encoder feedback (position accuracy ≤0.01mm) to realize closed-loop control of outrigger extension and retraction.

[0027] 7. Fastening actuator 12, After the first connecting surface 101 of the heterogeneous test piece 1 and the second connecting surface 401 of the fixing member 4 are aligned and fitted, fastening bolts are applied to the threaded holes 5 on the first connecting surface 101 and the second connecting surface 401 of the heterogeneous test piece 1 and the fixing member 4. In this embodiment, the fastening actuator 12 is symmetrically arranged on both sides of the heterogeneous test piece 1, and each side includes two torque wrenches (control accuracy ≤ ±5%), a semi-circular guide rail and an electric push cylinder. By moving the guide carriage along the circumference of the semi-circular guide rail and cooperating with the positioning of the binocular camera, the bolts are fastened diagonally and synchronously, and the fastening time for a single test piece is ≤ 10 minutes.

[0028] II. Leveling and centering methods include: Step 1: Using the center point of the second connecting surface 401 of the fastener 4 as the origin of the coordinate system, the line passing through the origin and perpendicular to the second connecting surface 401 is the Y-axis, and the line passing through the origin and vertically perpendicular to the Y-axis is the Z-axis. The right-hand rule is used to determine the X-axis and establish the world coordinate system O-XYZ; wherein the second connecting surface 401 is perpendicular to the horizontal plane.

[0029] Step 2: Use the transport chassis 3 to move the heterogeneous test piece 1 so that the first connecting surface 101 faces and approaches the second connecting surface 401.

[0030] Step 3: Use the first camera 6 along the Y-axis to acquire the projected coordinates of the center point of the first connecting surface 101 on the XOZ plane. Use the second camera 7 facing the YOZ plane to acquire first image information containing the first connecting surface 101 and the second connecting surface 401 on one side of the YOZ plane. Use the third camera 8 facing the YOZ plane to acquire second image information containing the first connecting surface 101 and the second connecting surface 401 on the other side of the YOZ plane.

[0031] Step 4: Eliminate lens distortion based on distortion correction algorithm and Zhang Zhengyou calibration method (reprojection error < 0.5 pixels); use ORB algorithm to extract feature points such as endpoints, midpoints, axes, center of threaded hole 5 and clamping points of the first connecting surface 101 and the second connecting surface 401 in each image information. Step 5: Deviation Calculation 5.1 Based on the projected coordinates of the center point of the first connecting surface 101 in the XOZ plane, the first image information, and the second image information, a stereo matching algorithm is used to analyze and obtain the coordinates of the center point of the first connecting surface 101 in the world coordinate system in the first image information. The coordinates of the center point of the second connecting surface 401 in the world coordinate system And the coordinates of the center point of the first connecting surface 101 in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface 401 in the world coordinate system .

[0032] 5.2 Adopted The rotational deviation of the first connecting surface 101 around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface 101 and the second connecting surface 401 was calculated. ,in The distance between the center points of the first connecting surface 101 and the second connecting surface 401 projected onto the X-axis; according to The displacement deviation of the center point of the first connecting surface 101 along the X-axis was calculated. ;according to The displacement deviation of the center point of the first connecting surface 101 along the Z-axis was calculated. .

[0033] 5.3 Acquiring the first connection surface 101 The coordinate vector of threaded hole 5 On the first connecting surface 101 The coordinate vector of threaded hole 5 ; on the second connecting surface 401 and the first The coordinate vector of the threaded hole 5 that matches the threaded hole 5 is The second connecting surface 401 is connected to the first The coordinate vector of the threaded hole 5 that matches the threaded hole 5 is ;according to Analysis yielded the rotational deviation of the first connecting surface 101 around the Y-axis. .

[0034] 5.4 Acquire the coordinates of the upper endpoint of the projection of the first connecting surface 101 onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface 101 projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface 401 projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface 401 projected onto the YOZ plane. ;according to Analysis yielded the rotational deviation of the first connecting surface 101 around the X-axis. .

[0035] Step Six: Adjust the position and orientation of the first connecting surface 101 on the mounting platform 201 using the attitude adjustment mechanism 2, so that... , , , , , All values ​​are zero, completing the leveling and centering of heterogeneous test piece 1; the specific operation is as follows: The six-degree-of-freedom attitude adjustment mechanism 2 takes the deviation data measured by each camera, converted into platform pose, as input, and sends commands through the controller 11 to coordinately control the six-degree-of-freedom attitude adjustment mechanism 2 to complete the leveling and centering operation of the heterogeneous test piece 1. The entire attitude adjustment and centering process is divided into three steps: a) Leveling ( , (Adjustment): The controller 11 converts the deviation into a rotation command for the six-degree-of-freedom attitude adjustment mechanism 2, calculates the length change of each retractable outrigger 202 through inverse kinematics, and drives the mounting platform 201 to rotate around the X-axis and Z-axis until... =0、 =0 (error ≤ 0.05°); b) Axis alignment ( , Adjustment): Control the installation platform 201 to translate along the X and Z axes until the two axes coincide. , ≤0.05mm).

[0036] c) Align the threaded hole 5 ( Adjustment): Drive the heterogeneous test specimen 1 to rotate around the Y-axis via the coaxial rotation support assembly until... =0 (error ≤ 0.1°).

[0037] The rotational motion of the six-DOF attitude adjustment mechanism 2 can be described by the relationship between Euler angles and joint variables. For example... Figure 4 With the center of the moving platform as the origin of the coordinate system, X p Y p Z p Establish a moving platform coordinate system with the same orientation as the X, Y, and Z directions of the inertial coordinate system. Let the rotation matrix of the six-DOF attitude adjustment mechanism 2 be... Platform X p Y p Z p The rotation matrix formed by the rotational deviation of the direction can be expressed as:

[0038] in, For the installation platform 201 around X p The rotation angle of the shaft, For the installation platform 201 around Y p Axis rotation angle, For the installation platform 201 around Z p Axis rotation angle.

[0039] Based on the inverse kinematics solution of the six-degree-of-freedom attitude adjustment mechanism 2, the length changes of each retractable leg 202 can be obtained. ( =1, 2, 3, 4, 5, 6), and its calculation formula is derived based on the structural parameters of the platform (such as the coordinates of the upper and lower hinge points, etc.). First, the installation platform 201 is used to calculate the first... The hinge point of the retractable outrigger 202 The position vector in the moving coordinate system is transformed by the rotation matrix. Transformed into an inertial reference system, the position vector of the hinge point after transformation. In the formula, It is a rotation matrix; The position vector coordinates of the hinge point in the moving platform coordinate system; Let be the position vector coordinates of the origin of the moving platform's coordinate system in the inertial coordinate system, that is, the displacements of the six-free platform in the X, Y, and Z directions in the inertial coordinate system. Using spatial geometric relationships, the position vectors of the sixth platform (transport chassis 3) on the static platform can be easily expressed. The hinge point of the retractable outrigger 202 Hinges on the moving platform Given the position vector coordinates in their respective coordinate systems, and using the coordinate transformation formula given above, the hinge points in the moving platform can be calculated. Position vector coordinates in the inertial coordinate system Therefore, we can conclude that... The length vector of each retractable outrigger 202 The position vector expression in the reference coordinate system is as follows: In the formula Let be the position vector coordinates of the hinge point in the moving platform in the inertial coordinate system. The position vector coordinates of the hinge point in the static platform in the inertial coordinate system.

[0040] Obtain the target support leg After obtaining the expression, taking its modulus yields the length of the outrigger, as shown in the following formula.

[0041] The elongation of each of the six-degree-of-freedom outriggers is expressed as follows:

[0042] In the formula, For the target length of the outriggers, Initial length of the outrigger.

[0043] Specifically: Step a) Leveling ( , Adjustment process: The camera acquires the platform's attitude information in real time, and after data processing, outputs the rotational deviation in the X direction. Rotational deviation in the Z direction And transmit it to controller 11.

[0044] After receiving the deviation data, the controller 11 first determines whether the deviation is within the allowable error range. If it is within the error range, no adjustment is made; if it exceeds the error range, the controller 11 controls the six-degree-of-freedom attitude adjustment mechanism 2 to perform rotational adjustments in the X and Z directions.

[0045] Since only the rotational deviations in the X and Z directions need to be adjusted, and Substituting the inverse kinematics formula of the six-DOF attitude adjustment mechanism 2, we can obtain the required length change of each telescopic outrigger. .

[0046] At this point, the pose of the installation platform 201 is:

[0047] At this point, the rotation matrix corresponding to the six degrees of freedom is: The controller 11 calculates... The controller sends control commands to each telescopic leg of the six-degree-of-freedom attitude adjustment mechanism 2. These commands contain information about the required extension / retraction length of the telescopic legs. Upon receiving the commands, the telescopic legs extend and retract accordingly, causing the platform to rotate around the X and Z axes. During this movement, the camera continuously collects platform attitude data and feeds back new deviation data to the controller 11.

[0048] The controller 11 compares the new deviation data with the allowable error. If it still exceeds the error range, the process is repeated until... and Once adjusted to within the allowable error range, the automatic leveling process is complete.

[0049] Step b) Axis alignment ( , Adjustment process: After automatic leveling is completed, the camera begins to acquire the position information of the heterogeneous flange in the X and Z directions, and the offset in the X direction is obtained after processing. offset in the Z direction And send it to controller 11.

[0050] The controller 11 receives the offset data and determines whether it is within the allowable error range. If it is within the range, no adjustment is made; if it is outside the range, the controller controls the six-degree-of-freedom attitude adjustment mechanism 2 to perform axis offset adjustment.

[0051] Will and and platform structure parameters , Substitute the values ​​into the formula to calculate the length change required for each telescopic outrigger to eliminate the offset. At this point, the rotation matrix for the six degrees of freedom is 0, and the platform pose is... .

[0052] By controlling the extension and retraction of the telescopic outriggers of the six-degree-of-freedom attitude adjustment mechanism 2, the mounting platform 201 is translated in the X and Z directions. During the translation, the camera monitors the platform position in real time and feeds back the new offset data to the controller 11. The controller 11 continuously compares the new data with the allowable error. If the requirement is not met, it continues to adjust the extension and retraction of the telescopic outriggers until... and Within the allowable error range, the main axis of the heterogeneous flange is automatically aligned.

[0053] Step c) Align the threaded hole 5 ( Adjustment process: After completing automatic leveling and main axis alignment, the next step is to align the threaded hole 5 of the heterogeneous test piece 1 by rotating it in the Y direction. The axial position of the threaded hole 5 is captured by a camera, and the rotational deviation in the Y-axis direction is obtained after processing. We determine whether it is within the allowable error range. If it is outside the range, we control the coaxial rotating support assembly to rotate, thereby aligning the threaded hole 5 axis of the heterogeneous test piece 1.

[0054] Similarly, when the coaxial rotary support assembly is adjusted in the Y direction, the camera continuously monitors the alignment of the threaded hole 5 in real time, constantly adjusting the new alignment. Feedback is sent to controller 11, and controller 11, based on the feedback... Determine if the threaded hole 5 axis is aligned. If not, continue sending adjustment commands until the threaded hole 5 axis is aligned. Within the allowable error range.

[0055] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically leveling and aligning a heterogeneous test specimen, wherein the heterogeneous test specimen is fixed to a carrier chassis via an installation platform of an attitude adjustment mechanism, and a steering wheel mechanism is installed at the bottom of the carrier chassis to drive the carrier chassis to move. This steering wheel mechanism adjusts the position of the first connecting surface of the heterogeneous test specimen to align with the second connecting surface of the fixing component after the carrier chassis moves the heterogeneous test specimen fixed on the installation platform to a position where it mates with a fixing component. The first and second connecting surfaces are respectively provided with mutually mating threaded holes. The method is characterized in that... The leveling and centering method includes: Using the center point of the second connecting surface of the fastener as the origin, the line passing through the origin and perpendicular to the second connecting surface is the Y-axis, and the line passing through the origin and vertically perpendicular to the Y-axis is the Z-axis. The right-hand rule is used to determine the X-axis to establish a world coordinate system O-XYZ; wherein the second connecting surface is perpendicular to the horizontal plane. The heterogeneous test specimen is moved using a transport chassis so that the first connecting surface faces and approaches the second connecting surface; The projection coordinates of the center point of the first connecting surface on the XOZ plane are acquired using a first camera along the Y-axis. The first image information containing the first connecting surface and the second connecting surface is acquired on one side of the YOZ plane using a second camera facing the YOZ plane. The second image information containing the first connecting surface and the second connecting surface is acquired on the other side of the YOZ plane using a third camera facing the YOZ plane. Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, the rotational deviation of the first connecting surface around the Z-axis is analyzed and obtained. and the displacement deviation along the Y-axis between the first connecting surface and the second connecting surface. ; The coordinates of the upper and lower endpoints of the first connecting surface projected onto the YOZ plane, as well as the coordinates of the upper and lower endpoints of the second connecting surface projected onto the YOZ plane, are collected and analyzed to obtain the rotational deviation of the first connecting surface around the X-axis. ; Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, and the projected coordinates of the center point of the second connecting surface in the XOZ plane, the displacement deviation of the center point of the first connecting surface along the X-axis is obtained through analysis. and the displacement deviation of the center point of the first connecting surface along the Z-axis ; Collect the coordinate vectors of any two threaded hole pairs on the first and second connecting surfaces, and analyze to obtain the rotational deviation of the first connecting surface around the Y-axis. ; The pose of the first connecting surface on the mounting platform is adjusted using the pose adjustment mechanism, so that... , , , , , All values ​​are zero, completing the leveling and centering of the heterogeneous test specimen.

2. The automatic leveling and centering method for installing heterogeneous test specimens according to claim 1, characterized in that, Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, the rotational deviation of the first connecting surface around the Z-axis is analyzed and obtained. and the displacement deviation along the Y-axis between the first connecting surface and the second connecting surface. The methods include: Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information, a stereo matching algorithm is used to analyze and obtain the coordinates of the center point of the first connecting surface in the world coordinate system from the first image information. The coordinates of the center point of the second connecting surface in the world coordinate system And the coordinates of the center point of the first connecting surface in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system ; use The rotational deviation of the first connecting surface around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface and the second connecting surface was calculated. ,in The distance between the center points of the first and second connecting surfaces on the X-axis is the projection distance between them.

3. The automatic leveling and centering method for installing heterogeneous test specimens according to claim 2, characterized in that, Based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, and the projected coordinates of the center point of the second connecting surface in the XOZ plane, the displacement deviation of the center point of the first connecting surface along the X-axis is obtained through analysis. and the displacement deviation of the center point of the first connecting surface along the Z-axis The methods include: according to The displacement deviation of the center point of the first connecting surface along the X-axis was calculated. ; according to The displacement deviation of the center point of the first connecting surface along the Z-axis was calculated. .

4. The automatic leveling and centering method for installing heterogeneous test specimens according to claim 2, characterized in that, Analysis yielded the rotational deviation of the first connecting surface around the Y-axis. The methods include: Collect the first connection surface Coordinate vector of each threaded hole The first connecting surface Coordinate vector of each threaded hole ; on the second connecting surface and the first The coordinate vector of the threaded hole that matches the threaded hole is The second connecting surface is with the first The coordinate vector of the threaded hole that matches the threaded hole is ; according to Analysis yielded the rotational deviation of the first connecting surface around the Y-axis. .

5. The automatic leveling and centering method for installing heterogeneous test specimens according to claim 1, characterized in that, Analysis yielded the rotational deviation of the first connecting surface around the X-axis. The methods include: Collect the coordinates of the upper endpoint of the first connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface projected onto the YOZ plane. ; according to Analysis yielded the rotational deviation of the first connecting surface around the X-axis. .

6. A heterogeneous test specimen mounting device, used to implement the automatic leveling and centering method for mounting heterogeneous test specimens as described in any one of claims 1-5, characterized in that, include: The transport chassis has a steering wheel mechanism installed at its bottom to drive the transport chassis to move; An attitude adjustment mechanism is movably mounted above the transport chassis and is used to place heterogeneous test specimens via an installation platform; A clamping mechanism, fixed to the mounting platform, is used to clamp and fix the heterogeneous test specimen placed on the mounting platform; The first camera is used to acquire image information of the first or second connecting surface along the Y-axis. The second camera is positioned facing the YOZ plane and located on one side of the YOZ plane. It is used to acquire first image information containing the first connecting surface and the second connecting surface from the side perpendicular to the YOZ plane. The third camera is positioned facing the YOZ plane and located on the other side of the YOZ plane, opposite to the second camera. It is used to acquire second image information, including the first connecting surface and the second connecting surface, from a side perpendicular to the YOZ plane. The acquisition module is used to analyze the rotational deviation of the first connecting surface around the Z-axis under the current pose of the installation platform, based on the spatial positions of the first camera, the second camera, and the third camera in the world coordinate system, as well as the image information acquired by the first camera, the first image information acquired by the second camera, and the second image information acquired by the third camera. Displacement deviation along the Y-axis between the first connecting surface and the second connecting surface Rotational deviation of the first connecting surface around the X-axis Displacement deviation of the center point of the first connecting surface along the X-axis Displacement deviation of the center point of the first connecting surface along the Z-axis and the rotational deviation of the first connecting surface around the Y-axis ; The controller is used to determine the pose of the currently installed platform in the acquisition module. , , , , , The pose of the first connecting surface on the mounting platform is adjusted using the pose adjustment mechanism, so that... , , , , , All values ​​are zero, completing the leveling and centering of the heterogeneous test specimen. A fastening actuator is used to apply fastening bolts to the threaded holes on the mating first and second connecting surfaces of the heterogeneous test piece and the fixing member after the first connecting surface of the heterogeneous test piece and the second connecting surface of the fixing member are aligned.

7. The heterogeneous test specimen mounting device according to claim 6, characterized in that, The acquisition module includes: The first data processing unit is configured to analyze and obtain the coordinates of the center point of the first connecting surface in the world coordinate system from the first image information using a stereo matching algorithm, based on the projected coordinates of the center point of the first connecting surface in the XOZ plane, the first image information, and the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system And the coordinates of the center point of the first connecting surface in the world coordinate system in the second image information. The coordinates of the center point of the second connecting surface in the world coordinate system ; and adopt The rotational deviation of the first connecting surface around the Z-axis was calculated. ,use The displacement deviation along the Y-axis between the first connecting surface and the second connecting surface was calculated. ,in The distance between the center points of the first connecting surface and the center points of the second connecting surface projected onto the X-axis; The second data processing unit is used to process the upper endpoint coordinates of the projection of the first connecting surface onto the YOZ plane. The coordinates of the lower endpoint of the first connecting surface projected onto the YOZ plane. And the coordinates of the upper endpoint of the second connecting surface projected onto the YOZ plane. The coordinates of the lower endpoint of the second connecting surface projected onto the YOZ plane. ,use Analysis yielded the rotational deviation of the first connecting surface around the X-axis. ; The third data processing unit is used to process data based on the projected coordinates of the center point of the first connecting surface in the XOZ plane and the projected coordinates of the center point of the second connecting surface in the XOZ plane, using... The displacement deviation of the center point of the first connecting surface along the X-axis was calculated. ,use The displacement deviation of the center point of the first connecting surface along the Z-axis was calculated. ; The fourth data processing unit is used to process data based on the first connection surface. Coordinate vector of each threaded hole The first connecting surface Coordinate vector of each threaded hole ; on the second connecting surface and the first The coordinate vector of the threaded hole that matches the threaded hole is The second connecting surface is with the first The coordinate vector of the threaded hole that matches the threaded hole is ,use Analysis yielded the rotational deviation of the first connecting surface around the Y-axis. .

8. The heterogeneous test specimen mounting device according to claim 6, characterized in that, The attitude adjustment mechanism includes at least three retractable legs. The mounting platform is mounted above the transport chassis via the retractable legs. One end of each retractable leg is hinged to the transport chassis, and the other end of each retractable leg is hinged to the bottom of the mounting platform.

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