阅读说明：本技术 一种六轴大部件筒段对接虚拟仿真台使用方法 (Use method of six-axis large-component cylinder section butt joint virtual simulation platform ) 是由 康永刚 任昊迪 陈希多 陈明远 来云峰 于 2021-01-12 设计创作，主要内容包括：本发明涉及一种六轴大部件筒段对接虚拟仿真台使用方法,包括：照相测量部分、筒段支撑调姿部分、激光测量部分、照相标定架部分以及底座。用于验证飞机总装对接装配偏差分析软件的虚拟仿真平台。该平台通过激光轮廓传感器获取筒段表面外形数据,通过工业相机获取筒段端面上的关键特征点的位置信息,通过六轴支撑调姿结构对动部件进行六自由度运动控制,可以实现实测数据下的偏差测量,以实现验证装配偏差分析软件的功能。同时本发明也可以用来为实际工程中该类型大部件总装对接装配偏差预测提供研究基础与技术验证。(The invention relates to a use method of a six-axis large-component cylinder section butt joint virtual simulation platform, which comprises the following steps: the device comprises a photogrammetric part, a barrel section supporting and posture adjusting part, a laser measuring part, a photogrammetric calibration frame part and a base. The virtual simulation platform is used for verifying the airplane final assembly docking assembly deviation analysis software. The platform acquires surface appearance data of the cylinder section through the laser profile sensor, acquires position information of key characteristic points on the end face of the cylinder section through the industrial camera, and performs six-degree-of-freedom motion control on a moving part through the six-axis support attitude adjusting structure, so that deviation measurement under actual measurement data can be realized, and the function of verifying and assembling deviation analysis software is realized. Meanwhile, the method can also be used for providing research foundation and technical verification for the prediction of the assembly deviation of the general assembly butt joint of the large components in actual engineering.)

1. A six-axis large component cylinder section butt joint virtual simulation platform is characterized by comprising a photogrammetry part (1), a cylinder section supporting posture adjusting part (2) and a laser measurement part (3) which are positioned on a platform of a base (5); the structure of the photogrammetric part (1) is as follows: the linear sliding platform (10) is positioned on the base (5), the camera upright post (8) is installed on the linear sliding platform (10) through an upright post sliding block (9), the camera cross beam (6) is installed on the camera upright post (8), the camera cross beam (6) is provided with a camera support rod (7), two ends of the support rod (7) are provided with camera seat sliding blocks (13), and the industrial camera (11) is fixed on the camera seat sliding blocks (13) through a camera seat (12); the cylinder section supporting and posture adjusting part (2) is structurally characterized in that: the laser measuring part (3) is structurally characterized in that a static supporting platform (15) and a movable supporting base (23) are installed in parallel with a linear sliding platform (10), a static cylinder section (14) is arranged on the static supporting platform (15), an electric lifting platform (22), a three-coordinate rotation angle displacement platform (21), a single-coordinate electric displacement platform II (20), a single-coordinate electric displacement platform I (19), a movable supporting platform (18) and a movable cylinder section (17) are sequentially arranged on the movable supporting base (23), the supporting base (24) is located on one side of the static supporting platform (15) and the movable supporting base (23) and is installed in parallel, a linear module (28) is installed on the supporting base (24), a sensor upright (25) is installed on the linear module (28), and a laser profile sensor (27) is installed on the sensor upright (25) through a sensor support (26).

2. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: still include the calibration frame part of taking a picture (4), the structure is: a calibration frame beam (29) is arranged on the calibration frame (31), and two calibration plates (30) are fixedly arranged on two sides of the calibration frame beam (29) respectively; when in use, the supporting base (24) is arranged at the side edges of the static supporting platform (15) and the movable supporting base (23).

3. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: the shooting end faces of the static cylinder section (14) and the movable cylinder section (17) are respectively provided with a pin hole and a positioning groove (16),

4. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: the camera base sliding block (13) can rotate and slide on the camera support rod (7).

5. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: the electric lifting platform (22) can slide on the movable supporting base (23).

6. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: the industrial camera (11) adopts a Balser industrial camera.

7. The six-axis large component cylinder section docking virtual simulation platform according to claim 1, wherein: the laser profile sensor (27) adopts a Gocator 3D laser profile sensor.

8. A use method of the six-axis large-component cylinder section butt joint virtual simulation platform according to any one of claims 1 to 7 is characterized in that:

step 1 laser scanning

Adjusting a sensor support (26) to a proper height, starting a laser profile sensor (27) and a linear module (28), wherein the laser profile sensor (27) horizontally moves along with a sensor upright post (25), and performing laser scanning on a static cylinder section (14) and a moving cylinder section (17) to acquire surface profile data of the cylinder sections;

step 2, calibrating the camera

Taking an end face characteristic point (16) of the barrel section as a reference, adjusting the height of a calibration frame cross beam (29), and then sequentially adjusting the position of an upright post sliding block (9), the height of a camera cross beam (6), the position of a camera base sliding block (13) and the rotation angle of a camera base (12) to realize the symmetrical calibration of two industrial cameras (11);

and step 3: cylindrical section posture adjusting device

The attitude and the position of the movable cylinder section (17) are controlled by the electric translation stage I (19), the electric translation stage II (20), the electric angular displacement stage (21) and the electric lifting stage (22), and the movable cylinder section (17) and the static cylinder section (14) are assembled and butted;

and 4, step 4: photographic measurement

In the process of the step 3, the industrial camera (11) photographs the characteristic points (16), and the assembly deviation of the characteristic points is measured through the matched software of the industrial camera (11).

Technical Field

The invention belongs to the field of airplane assembly deviation prediction, and relates to a six-axis large-component cylinder section butt joint virtual simulation platform and a using method thereof, which are used for verifying a virtual simulation platform of airplane final assembly butt joint assembly deviation prediction software.

Background

The airplane is a product with complex appearance, huge number of parts and complex coordination relationship. In the process of airplane assembly, the quality of butt joint assembly directly influences the assembly accuracy of the whole airplane. The fuselage comprises frame, truss, covering, crossbeam isotructure, but receives self structural feature, part rigidity is low, manufacturing error and the influence of factors such as the frock clamping locate mode of taking during the assembly make actual part appearance and theoretical manufacturing model between have certain deviation, this deviation is along with assembly process production, transmission and accumulation, receive the influence of terminal surface depth of parallelism and straightness tolerance that hangs down in the butt joint process, the coordination is complicated, there are problems such as butt joint jump and butt joint clearance, need trial assembly repeatedly and inefficiency, it is difficult to accurate prediction assembly deviation.

With the proposition of a digital twinning concept and the development of a modern advanced measurement technology, high-precision part surface data can be obtained through three-dimensional digital measurement equipment, a digital twinning model capable of mapping real state information of parts one by one is constructed, and the precision of key feature points after the parts are assembled under actual working conditions is predicted by a mathematical analysis method, so that the cost and the time are saved to a certain extent, and the method has important significance for improving the assembly accuracy of an airplane and guiding subsequent assembly work. However, the application of the technology based on the digital twinning still stays at the description level of the concept, and no technical method for realizing the digital twinning in the aspect of predicting the deviation of the actual assembly body is researched in the literature.

Disclosure of Invention

Technical problem to be solved

In order to avoid the defects of the prior art, the invention provides a use method of a six-axis large component cylinder section butt joint virtual simulation platform.

Technical scheme

A six-axis large component cylinder section butt joint virtual simulation platform is characterized by comprising a photogrammetry part 1, a cylinder section supporting posture adjusting part 2 and a laser measurement part 3 which are positioned on a platform of a base 5; the photogrammetric section 1 has a structure that: the linear sliding table 10 is positioned on the base 5, the camera upright post 8 is arranged on the linear sliding table 10 through an upright post sliding block 9, the camera beam 6 is arranged on the camera upright post 8, the camera beam 6 is provided with a camera support rod 7, two ends of the support rod 7 are provided with camera seat sliding blocks 13, and the industrial camera 11 is fixed on the camera seat sliding blocks 13 through a camera seat 12; the cylinder section supporting and posture adjusting part 2 is structurally characterized in that: the static supporting platform 15 and the movable supporting base 23 are installed in parallel with the linear sliding platform 10, a static cylinder section 14 is arranged on the static supporting platform 15, and an electric lifting platform 22, a three-coordinate rotation angle displacement platform 21, a single-coordinate electric displacement platform II 20, a single-coordinate electric displacement platform I19, a movable supporting platform 18 and a movable cylinder section 17 are sequentially arranged on the movable supporting base 23; the structure of the laser measuring part 3 is as follows: the supporting base 24 is located on one side of the static supporting base 15 and the dynamic supporting base 23 and is installed in parallel, the linear module 28 is installed on the supporting base 24, the sensor column 25 is installed on the linear module 28, and the laser profile sensor 27 is installed on the sensor column 25 through the sensor support 26.

Still include the calibration frame part 4 of taking a picture, the structure is: a calibration frame beam 29 is arranged on the calibration frame 31, and two calibration plates 30 are fixedly arranged on two sides of the calibration frame beam 29 respectively; when in use, the supporting base 24 is arranged at the side of the static supporting platform 15 and the dynamic supporting base 23.

The shooting end faces of the static cylinder section 14 and the moving cylinder section 17 are respectively provided with a pin hole and a positioning groove 16.

The camera mount slider 13 is rotatable and slidable on the camera stay 7.

The industrial camera 11 is a Balser industrial camera.

The laser profile sensor 27 is a Gocator 3D laser profile sensor.

A use method of the six-axis large component cylinder section butt joint virtual simulation platform is characterized in that:

step 1 laser scanning

Adjusting the sensor support 26 to a proper height, starting the laser profile sensor 27 and the linear module 28, horizontally moving the laser profile sensor 27 along with the sensor upright column 25, and performing laser scanning on the static cylinder section 14 and the moving cylinder section 17 to acquire surface profile data of the cylinder sections;

step 2, calibrating the camera

Taking the end surface characteristic point 16 of the barrel section as a reference, adjusting the height of a calibrating frame beam 29, and then sequentially adjusting the position of the upright post sliding block 9, the height of the camera beam 6, the position of the camera base sliding block 13 and the rotation angle of the camera base 12 to realize the symmetrical calibration of the two industrial cameras 11;

and step 3: cylindrical section posture adjusting device

The attitude and the position of the movable cylinder section 17 are controlled by the electric translation stage I19, the electric translation stage II 20, the electric angular displacement stage 21 and the electric lifting stage 22, and the movable cylinder section 17 is assembled and butted with the static cylinder section 14;

and 4, step 4: photographic measurement

In the process of step 3, the industrial camera 11 photographs the feature points 16, and the measurement of the assembly deviation of the feature points is realized through the matching software of the industrial camera 11.

Advantageous effects

The invention provides a use method of a six-axis large component cylinder section butt joint virtual simulation platform, which is used for verifying a virtual simulation platform of airplane final assembly butt joint assembly deviation analysis software. The platform acquires surface appearance data of the cylinder section through the laser profile sensor, acquires position information of key characteristic points on the end face of the cylinder section through the industrial camera, and performs six-degree-of-freedom motion control on a moving part through the six-axis support attitude adjusting structure, so that deviation measurement under actual measurement data can be realized, and the function of verifying and assembling deviation analysis software is realized. Meanwhile, the method can also be used for providing research foundation and technical verification for the prediction of the assembly deviation of the general assembly butt joint of the large components in actual engineering.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

in the figure: 1. a photogrammetric section; 2. the cylinder section supports the posture adjusting part; 3. a laser measuring section; 4. a photographic calibration frame; 5. a base.

FIG. 2 is a schematic view of a photogrammetric structure;

in the figure: 6. a camera beam; 7. a camera support bar; 8. a camera column; 9. a column slide block; 10. a linear sliding table; 11. an industrial camera; 12. a camera stand; 13. camera mount slider.

FIG. 3 is a schematic view of a barrel section support attitude adjustment structure;

in the figure: 14. a stationary barrel section; 15. a static support platform; 16. feature points; 17. a movable cylinder section; 18. a movable support platform; 19. an electric translation stage 1; 20. an electric translation stage 2; 21. an electric angular displacement table; 22. an electric lifting table; 23. and a movable support base.

FIG. 4 is a schematic view of a laser measurement configuration;

in the figure: 24. a support base; 25. a sensor column; 26. a sensor support; 27. a laser profile sensor; 28. a linear module.

FIG. 5 is a schematic view of a camera calibration stand;

in the figure: 29. calibrating a frame beam; 30. calibrating the plate; 31. and (4) a calibration frame.

Detailed Description

The invention will now be further described with reference to the following examples and drawings:

the invention is realized by the following technical scheme:

six major component section of thick bamboo section butt joint virtual simulation platforms, the platform mainly includes: the overall structure schematic diagram of the camera measuring part, the barrel section supporting and posture adjusting part, the laser measuring part, the camera calibration frame part and the base is shown in figure 1. The photogrammetry part is used for acquiring the position information of key characteristic points on the component; the cylinder section supporting and posture adjusting part is used for accurately controlling the position and the posture of the butt joint part; the laser measurement part is used for acquiring surface profile data of the component; the camera calibration frame part is used for carrying out calibration correction on the camera measurement part.

1. The photogrammetry part adopts a Balser industrial camera, is integrally arranged on the linear sliding table and is used for acquiring the position information of key characteristic points on the component. The structure of the photogrammetric part is as follows: the linear sliding platform is installed on a base of the integral structure, the camera stand column is installed on the linear sliding platform, the left and right sliding adjustment position can be achieved, the camera cross beam is installed on the camera stand column and can be adjusted in height, and the camera cross beam is provided with the camera support rod and used for symmetrically fixing the two industrial cameras. The industrial camera is installed on the camera base sliding block through the camera base, the camera base can rotate on the camera base sliding block, the camera base sliding block can rotate and slide on the camera supporting rod, the adjustment of the pitch angle and the yaw angle of the camera is achieved, and the structural schematic diagram is shown in fig. 2.

2. The cylinder section supporting and posture adjusting part comprises a three-coordinate rotation angle displacement table and three single-coordinate electric displacement tables and is used for controlling six-direction freedom degrees of a component so as to realize accurate control of the position and the posture of the butt joint component. The cylinder section supporting and posture adjusting part structure is as follows: the static supporting platform and the movable supporting base are arranged on the base of the integral structure, the static cylinder section is arranged on the static supporting platform, the movable supporting platform is arranged on the movable supporting base through the posture adjusting platform, and the movable cylinder section is arranged on the movable supporting platform. The posture adjusting platform comprises a three-coordinate rotating angular displacement platform and three single-coordinate electric displacement platforms, pin holes and positioning grooves are respectively processed on the photographing end faces of the static cylinder section and the moving cylinder section and used as characteristic points for matching with each other, and the structural schematic diagram is shown in fig. 3.

3. The laser measurement part adopts a Gocator 3D laser profile sensor and is used for acquiring surface appearance data of the part. The working principle is as follows: firstly, determining the scanning speed in a working state, determining a series of parameters such as a field profile and the like according to the shape size of a cylinder section, carrying out thinning, dispersing and other operations on information captured by a camera in software, and finally filtering and fitting data points in an obtained three-dimensional space to generate a three-dimensional graph. The structure of the laser measuring part is as follows: the supporting base is installed on the base of the whole structure, the linear module is installed on the supporting base, the sensor upright post is installed on the linear module, the laser profile sensor is installed on the sensor upright post through the sensor support, the sensor support can move up and down along the sensor upright post to perform height adjustment, the motion controller and the servo motor in the linear module can drive the laser profile sensor to translate along the horizontal direction, and the structural schematic diagram is shown in fig. 4.

4. The camera calibration frame part is used for calibrating and correcting the camera measurement part. Because when taking a photo measurement, it is necessary to set the parameters of the industrial camera, such as brightness, contrast, acquisition control, etc. The photogrammetry part adopts two cameras to carry out photogrammetry, and the two industrial cameras are calibrated and corrected according to conversion theories such as projection transformation and the like. The structure of the camera calibration frame part is as follows: the calibration frame is arranged on the base of the whole structure, the calibration plates work in a single face, therefore, two sides of the beam of the calibration frame are respectively fixedly provided with one calibration plate, the beam of the calibration frame is arranged on the calibration frame, the height of the calibration frame can be adjusted to adapt to the field situation, and the schematic structural diagram is shown in figure 5.