Coordinate transformation adjusting method for positioning assembly with included angle

Abstract

The invention discloses a coordinate transformation adjustment method for a positioning assembly with an included angle. The method comprises the following steps: establishing an adjustment measurement coordinate system based on a tool reference point; importing a positioning assembly reference point theoretical value and enabling the positioning assembly reference point theoretical value and the tool reference point to be in the same coordinate system; establishing a positioning assembly measurement coordinate system by taking the positioning reference point as a reference, and completing system coordinate conversion; according to the method, complex included angle adjustment and installation are converted into parallel adjustment and installation through coordinate conversion, efficient and accurate adjustment and installation are achieved based on the digital measurement technology, operation is easy and convenient, universality is high, and the method is suitable for large-scale popularization and application. The adjusting and installing period can be greatly shortened, the labor cost is reduced, and the tool adjusting and installing device is suitable for various tool adjusting and installing scenes with included angle positioning assemblies.

Description

Technical Field

[0001] This invention belongs to the field of assembly tooling adjustment technology, specifically relating to a coordinate transformation adjustment method for components with included angle positioning. Background Technology

[0002] With the development of aerospace technology, the requirements for tooling positioning accuracy in aerospace assembly are increasing, and the need to shorten the assembly jig adjustment cycle is becoming more and more urgent. The assembly jig tooling is characterized by complex structure, many positioning components (such as clamps, drill jigs, positioners, etc.), and high positioning accuracy requirements. Its positioning components mainly achieve product positioning through the surface and hole positions.

[0003] Due to the special requirements of product positioning angle and position, some positioning components inevitably have an angle between their working surface (or the contact surface between the fixed angle seat and the tooling frame) and the reference plane of the tooling design coordinate system. Existing adjustment methods are based on measuring equipment and adjustment software, and are adjusted by measuring the deviation between the actual value and the theoretical value of the positioning component. However, due to the existence of the angle, adjusting the deviation of one coordinate axis will cause the other two coordinate axes to shift, which greatly increases the difficulty of adjustment and consumes a lot of time and manpower. To address this, we propose a coordinate transformation adjustment method for positioning components with angles. Summary of the Invention

[0004] The purpose of this invention is to provide a coordinate transformation and adjustment method for a positioning assembly with a included angle, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a coordinate transformation and adjustment method for an angular positioning component, comprising the following steps: S1. Establish the coordinate system for installation and measurement: Input the theoretical value of the tooling reference point into the measurement software, detect the actual measured value of the tooling reference point through the measurement equipment, match and calibrate the actual measured value of the tooling reference point with the theoretical value, establish the installation measurement coordinate system, and ensure that the transformation tolerance of the installation measurement coordinate system meets the preset requirements. S2. Import the theoretical values ​​of the positioning component reference points: Input the theoretical value of the positioning reference point of the positioning component to be adjusted into the measurement software, so that the positioning reference point and the tooling reference point in S1 are in the same adjustment measurement coordinate system; S3. Perform system coordinate transformation: In the measurement software, the theoretical value of the positioning reference point is selected, the axis alignment direction is defined, one of the positioning reference points is taken as the origin of the new coordinate system, and the line connecting the origin and at least one of the other positioning reference points is taken as the coordinate axis direction of the new coordinate system. The positioning component measurement coordinate system is established, and the coordinate values ​​of the positioning reference points are synchronously updated to the coordinate values ​​under the positioning component measurement coordinate system. The relative positional relationship and physical correspondence between the positioning reference points before and after the conversion remain consistent. S4. Positioning component installation and coordinate system reset: Under the coordinate system of the positioning component, the corresponding positioning reference point on the physical object of the positioning component is measured, the deviation between the measured value and the theoretical value is obtained, the position of the positioning component is adjusted in the direction of reducing the deviation until the deviation meets the requirements, and the measurement data is saved. Cancel the system coordinate transformation and restore the installation measurement coordinate system established in S1. At this time, the deviation between the measured value of the positioning reference point and the original theoretical value still meets the requirements, and the installation is completed.

[0006] Preferably, the tooling reference points are reference tool spheres distributed on the tooling frame, used for tooling adjustment and the establishment of the product measurement coordinate system.

[0007] Preferably, the positioning reference point is an optical tool ball point, and the number of optical tool ball points is 3. They are distributed on the working surface of the positioning component according to the 321 spatial positioning principle to restrict the six degrees of freedom in the space of the positioning component.

[0008] Preferably, in S1, the measuring device is a laser tracker. After the laser tracker establishes a communication connection with the measuring software, it performs the detection operation of the tooling reference point.

[0009] Preferably, the measurement software is Polyworks spatial measurement software.

[0010] Preferably, in S1, the matching calibration method between the actual measured value and the theoretical value is best fit.

[0011] Preferably, in S3, the axis alignment direction is consistent with the tooling coordinate direction.

[0012] Preferably, in S4, the process of adjusting the position of the positioning component adopts a "measure-adjust-measure" cycle.

[0013] Preferably, during the assembly process, the actual measured value of the optical tool ball point is measured through the adapter sleeve and the target ball seat.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. Significantly improved assembly efficiency: Based on digital measurement technology, this invention transforms complex assembly scenarios with angles to the tooling coordinate system into simple assembly scenarios where the positioning surface is parallel to the coordinate system through coordinate system transformation. This avoids the problem of multiple coordinate axis offsets in existing assembly processes, greatly reduces the number of repeated adjustments, saves assembly time, and improves assembly efficiency. 2. High versatility: The adjustment method of the present invention is not limited by the specific type of positioning component or the difference in tooling structure. It is applicable to the adjustment of positioning components in various assembly frames where the working surface and the tooling design coordinate system have an angle. It has a wide range of applications and can achieve consistent high-precision adjustment results. 3. Simple operation and high reliability: The system's coordinate transformation process is simple to operate, supporting both forward transformation and reverse recovery. The transformation does not affect the relative positions of the positioning reference points or the correspondence with the actual objects. After restoring the original coordinate system, the installation accuracy still meets the requirements, ensuring the reliability of the installation results. Attached Figure Description

[0015] Figure 1 A schematic diagram illustrating the distribution of tooling reference points (TB points) and the establishment of the adjustment measurement coordinate system for this invention; Figure 2 This is a schematic diagram showing the angle between the working surface of the positioning component of the present invention and the reference plane of the tooling design coordinate system; Figure 3 This is a schematic diagram showing the theoretical values ​​and location distribution of the positioning reference points (OTP points) of the positioning component of the present invention; Figure 4 This is a schematic diagram of the system coordinate transformation of the present invention; Figure 5 This is a schematic diagram showing the theoretical values ​​of OTP points and their location distribution after the system coordinate transformation of this invention; Figure 6 This is a schematic diagram showing the adjustment result of the coordinate system of the positioning component of the present invention. Figure 7 This is a schematic diagram of the adjustment result under the coordinate system of the restoration and adjustment measurement according to the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figures 1-7 The coordinate transformation and adjustment method for a positioning assembly with a included angle provided by the present invention includes the following steps: S1. Establish the coordinate system for installation and measurement: The theoretical values ​​of the tooling reference points are input into the measurement software. The tooling reference points are reference tool spheres (TB points) distributed on the tooling frame, used for tooling adjustment and the establishment of the product measurement coordinate system. The actual measured values ​​of the tooling reference points are detected by a measuring device, which is a laser tracker. After the laser tracker establishes a communication connection with the measurement software, the detection operation of the tooling reference points is performed. The actual measured values ​​of the tooling reference points are matched and calibrated with the theoretical values ​​using the best fit method to establish the adjustment measurement coordinate system and ensure that the transformation tolerance of the adjustment measurement coordinate system meets the preset requirements. The measurement software is Polyworks spatial measurement software. S2. Import the theoretical values ​​of the positioning component reference points: Input the theoretical value of the positioning reference point of the positioning component to be adjusted and installed into the Polyworks spatial measurement software. The positioning reference point is an optical tool ball point (OTP point), and there are 3 of them. They are distributed on the working surface of the positioning component according to the 321 spatial positioning principle to restrict the six degrees of freedom in the space of the positioning component. After importing, the positioning reference point is in the same coordinate system as the tooling reference point under the adjustment and measurement coordinate system established in S1. S3. Perform system coordinate transformation: In the Polyworks spatial measurement software, select the theoretical value of the positioning reference point, define the axis alignment direction, which is consistent with the tooling coordinate direction, take one of the positioning reference points as the origin of the new coordinate system, and take the line connecting the origin and at least one of the other positioning reference points as the coordinate axis direction of the new coordinate system to establish the positioning component measurement coordinate system. At this time, the coordinate values ​​of the positioning reference points are synchronously updated to the coordinate values ​​under the positioning component measurement coordinate system, and the relative positional relationship and physical correspondence between the positioning reference points before and after the conversion remain completely consistent. S4. Positioning component installation and coordinate system reset: In the coordinate system of the positioning component, the corresponding positioning reference point (optical tool ball point) on the physical positioning component is measured through the adapter sleeve and the target ball seat. The deviation between the measured value and the theoretical value is obtained. The position of the positioning component is adjusted in the direction of reducing the deviation. The adjustment process adopts a "measurement-adjustment-measurement" cycle until the deviation meets the requirements. The measurement data is detected and saved. Cancel the system coordinate transformation and restore the installation measurement coordinate system established in S1. At this time, the coordinate value of the positioning reference point is restored to the original theoretical value, and its measured value is also updated synchronously. The deviation between the updated measured value and the original theoretical value still meets the requirements. The installation of the positioning component is thus completed.

[0018] This embodiment provides a specific implementation process for a coordinate transformation and adjustment method for a positioning assembly with a included angle: Preliminary preparations: Import the theoretical values ​​of the tooling model and tooling reference points (TB points) into the Polyworks spatial measurement software, set up the laser tracker, and ensure that a stable communication connection is established between the laser tracker and the Polyworks software; Execute S1: Establish the installation and measurement coordinate system: The TB points on the tooling frame are detected by a laser tracker to obtain the actual measurement values ​​of each TB point. In Polyworks software, the actual measurement values ​​of the TB points are matched and calibrated with the theoretical values ​​using the best fitting method to generate an assembly measurement coordinate system. The transformation tolerance of the coordinate system is confirmed to meet the preset requirements after testing. Execute S2: Import theoretical values ​​of the positioning component reference point: Referring to the design drawings, the theoretical values ​​of the three optical tool ball points (OTP points) of the positioning component to be installed are extracted. These three OTP points are distributed on the working surface of the positioning component according to the 321 spatial positioning principle, which is used to restrict the six spatial degrees of freedom of the positioning component. Import the theoretical values ​​of the three OTP points into Polyworks software. At this time, the OTP points and TB points are in the same adjustment and measurement coordinate system. Execute S3: Perform system coordinate transformation. In Polyworks software, select the theoretical values ​​of three OTP points and define the axis alignment direction (which is consistent with the tooling coordinate direction); select one of the OTP points as the origin of the new coordinate system, and take the line connecting the origin and another OTP point as the direction of a certain coordinate axis of the new coordinate system to complete the establishment of the positioning component measurement coordinate system. At this time, the coordinate values ​​of the three OTP points are automatically updated to the values ​​in the measurement coordinate system of the positioning component, and the relative positional relationship and physical correspondence between the OTP points before and after the conversion remain unchanged. Execute S4: Positioning component installation and coordinate system reset: Under the coordinate system of the positioning component, open the monitoring window of the Polyworks software, and measure three OTP points on the actual positioning component through the adapter sleeve and target ball seat. The monitoring window displays the deviation between the measured value and the theoretical value of each OTP point in real time. Adjust the position of the positioning component in the direction of reducing the deviation, and use the "measure-adjust-measure" cycle to repeatedly adjust until the deviation of each OTP point meets the requirements. Detect and save the current measurement data. In Polyworks software, cancel the system coordinate transformation and restore the installation measurement coordinate system established in S1. At this time, the coordinate values ​​of the OTP point are restored to the original theoretical values, and the measured values ​​are updated synchronously. After testing, the deviation between the updated measured values ​​and the original theoretical values ​​still meets the requirements, and the installation of the positioning component is completed.

[0019] The beneficial effects of this invention are as follows: 1. Significantly improved assembly efficiency: Based on digital measurement technology, this invention transforms complex assembly scenarios with angles to the tooling coordinate system into simple assembly scenarios where the positioning surface is parallel to the coordinate system through coordinate system transformation. This avoids the problem of multiple coordinate axis offsets in existing assembly processes, greatly reduces the number of repeated adjustments, saves assembly time, and improves assembly efficiency. 2. High versatility: The adjustment method of the present invention is not limited by the specific type of positioning component or the difference in tooling structure. It is applicable to the adjustment of positioning components in various assembly frames where the working surface and the tooling design coordinate system have an angle. It has a wide range of applications and can achieve consistent high-precision adjustment results. 3. Simple operation and high reliability: The system coordinate transformation process is simple to operate, supports forward transformation and reverse recovery, and will not affect the relative position relationship of the positioning reference point or the correspondence of the physical object after transformation. After restoring the original coordinate system, the adjustment accuracy can still meet the requirements, ensuring the reliability of the adjustment results.

[0020] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A coordinate transformation and adjustment method for an angular positioning component, characterized in that, Includes the following steps: S1. Establish the coordinate system for installation and measurement: Input the theoretical value of the tooling reference point into the measurement software, detect the actual measured value of the tooling reference point through the measurement equipment, match and calibrate the actual measured value of the tooling reference point with the theoretical value, establish the installation measurement coordinate system, and ensure that the transformation tolerance of the installation measurement coordinate system meets the preset requirements. S2. Import the theoretical values ​​of the positioning component reference points: Input the theoretical value of the positioning reference point of the positioning component to be adjusted into the measurement software, so that the positioning reference point and the tooling reference point in S1 are in the same adjustment measurement coordinate system; S3. Perform system coordinate transformation: In the measurement software, the theoretical value of the positioning reference point is selected, the axis alignment direction is defined, one of the positioning reference points is taken as the origin of the new coordinate system, and the line connecting the origin and at least one of the other positioning reference points is taken as the coordinate axis direction of the new coordinate system. The positioning component measurement coordinate system is established, and the coordinate values ​​of the positioning reference points are synchronously updated to the coordinate values ​​under the positioning component measurement coordinate system. The relative positional relationship and physical correspondence between the positioning reference points before and after the conversion remain consistent. S4. Positioning component installation and coordinate system reset: Under the coordinate system of the positioning component, the corresponding positioning reference point on the physical object of the positioning component is measured, the deviation between the measured value and the theoretical value is obtained, the position of the positioning component is adjusted in the direction of reducing the deviation until the deviation meets the requirements, and the measurement data is saved. Cancel the system coordinate transformation and restore the installation measurement coordinate system established in S1. At this time, the deviation between the measured value of the positioning reference point and the original theoretical value still meets the requirements, and the installation is completed.

2. The coordinate transformation and adjustment method for an angular positioning assembly according to claim 1, characterized in that: The tooling reference points are reference tool spheres distributed on the tooling frame, used for tooling adjustment and the establishment of the product measurement coordinate system.

3. The coordinate transformation and adjustment method for a positioning assembly with included angle according to claim 1, characterized in that: The positioning reference point is an optical tool ball point. There are three optical tool ball points, which are distributed on the working surface of the positioning component according to the 321 spatial positioning principle, and are used to restrict the six degrees of freedom in the space of the positioning component.

4. The coordinate transformation and adjustment method for an angular positioning assembly according to claim 1, characterized in that: In S1, the measuring device is a laser tracker. After the laser tracker establishes a communication connection with the measuring software, it performs the detection operation of the tooling reference point.

5. A coordinate transformation and adjustment method for an angular positioning assembly according to claim 1, characterized in that: The measurement software is Polyworks spatial measurement software.

6. A coordinate transformation and adjustment method for an angular positioning assembly according to claim 1, characterized in that: In S1, the matching calibration method between the actual measured value and the theoretical value is the best fit.

7. A coordinate transformation and adjustment method for an angular positioning assembly according to claim 1, characterized in that: In S3, the axis alignment direction is consistent with the tooling coordinate direction.

8. A coordinate transformation and adjustment method for a positioning assembly with included angle according to claim 1, characterized in that: In S4, the process of adjusting the position of the positioning component adopts a "measure-adjust-measure" cycle.

9. A coordinate transformation and adjustment method for an angular positioning assembly according to claim 3, characterized in that: During the assembly process, the actual measured value of the optical tool ball point is measured through the adapter sleeve and target ball seat.

Images