CN103434653A - Aircraft component digitized flexible assembling measuring method based on laser tracking measuring technique - Google Patents
Aircraft component digitized flexible assembling measuring method based on laser tracking measuring technique Download PDFInfo
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Abstract
Provided is an aircraft component digitized flexible assembling measuring method based on a laser tracking measuring technique. The assembling measuring method comprises the following steps of (1) carrying out preparation work of assembling measurement, (2) carrying out work of the assembling measurement, and (3) carrying out parallel collaborative measurement in real time. The aircraft component digitized flexible assembling measuring method based on the laser tracking measuring technique relates to the combination of an assembling technique and the measuring technique, the theoretical position information of engineering data concentrated product digital analogy is compared with the coordinates, obtained by a laser tracking instrument in real time, of reference points of assembly parts to form positional deviation, the positional deviation is transmitted to a movement control system, the movement control system generates tool pose control instructions by analyzing the positional deviation and transmits the tool pose control instructions to a flexible tool, the flexible tool drives a workpiece to adjust poses together, and through the coordinated operation of the movement control system, the flexible tool and the workpiece, a closed loop control system is formed to complete the assembling work. The aircraft component digitized flexible assembling measuring method based on the laser tracking measuring technique has good practical value and wide application prospect in the laser tracking measuring technique and the aircraft digitalized assembling field.
Description
Technical field
The present invention is a kind of aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology, belongs to the makeup of laser tracking measurement technology and airplane digital and joins field.
Background technology
The future development of precise treatment is being maximized, is manufacturing in the contemporary aircraft design towards structural entity, part, this has not only strengthened the difficulty that part is manufactured, and has also improved the requirement to assembly quality.The development of external assembly technique is very fast, adopts advanced digitizing technique to realize its lean and correct assembly, has used in a large number digital definition model and optical measurement location technology, equipment.Domestic Aircraft manufacture and assembling aspect are also weaker, and these advanced technology, not by systematic research and utilization, do not form a set of rounded system.
Digitalisation alignment measurement technology is one of gordian technique of large aircraft manufacture, the overall process that it is manufactured through large aircraft.In recent years, the laser tracking measurement technology is extensively introduced by each large Aviation Manufacturing Enterprises, but be mainly used in the aspects such as quality testing, frock installation, fail making breakthroughs aspect the digitalisation assembly technique, cause the aircraft manufacturing cost high, cause advanced measuring equipment can not bring into play due effect in aircraft manufacturing.
How to utilize novel assembly technique, and adopt rational process, improve the efficiency of assembling of aircraft components, how on benefit, can reduce to greatest extent change in design, reduce the rework rate of makeing mistakes simultaneously, improve assembly precision, be the problem that waits research and solve in China's aeronautical manufacture production always.
Characteristics for aircraft components, set up numeral mark work by employing, utilize laser tracker that assembly tooling is installed, in fitting process to the fabrication data Real-time Collection, and the method that the assembling effect is carried out to emulation, can significantly improve quality and the efficiency of aircraft components assembling.
Summary of the invention
1) purpose: the laser tracking measurement technology is mainly used in aspect accuracy detection, frock installation at Field of Aviation Manufacturing, application for aircraft assembling field is also immature, especially in aircraft components digitalisation flexible assembly process, the laser tracking measurement technology has very large application potential and value.The present invention is a kind of aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology, it is a kind of laser tracking measurement technology of utilizing,, smart requirement degree high requirement complicated for flexibility assembling in large aircraft assembling, process and the new alignment measurement method that proposes has very strong practicality and feasibility.
Alignment measurement method purpose in the present invention is to solve following a few class problems:
1. meet the flexible assembly requirement
In modern aircraft fitting process, because the aircraft type improvement is more frequent, efficiency of assembling is had high requirements, the assembly tooling flexibility has become development tendency, and the alignment measurement method also will meet the flexibility requirement.The foundation that the work of numeral mark is that size is coordinated is take in the digitalisation flexible assembly, and the alignment measurement method proposed in invention can be carried out different fittages according to different numeral mark works, meets the flexible assembly requirement.One of the aircraft components digitalisation flexible assembly method of measurement proposed in the present invention is core technology of the present invention.
2. real-time parallel cooperative
In the aircraft components fitting process, need to determine in real time the multiple spot position data, many laser tracker collaborative works just can complete surveying work.Many the laser tracker real-time collaborative problems according to running in practical set, the present invention proposes multi-threaded parallel cooperative mode, and it is one of core technology of the present invention.
3. raising Assembly veracity
Because can there be certain error in assembly tooling in manufacture and erection process, in traditional assembly method, the aircraft assembly quality can be subject to the impact of frock accuracy of manufacture.Adopt digitalisation alignment measurement method, direct basis numeral mark work is transmitted the fitted position data of aircraft components, and assembly precision is improved.
4. build the alignment measurement environment
In digitalisation alignment measurement process, for the ease of the carrying out of alignment measurement, need to consider that on software view real-time measurement process is mutual, as the numerical value of the prompting of the demonstration to the assembly parts change in location, confined state, all kinds of quality inspection indexs etc.In the alignment measurement process, take off data adopts packing manner to send to real-time emulation system, and storage is as the emulation historical record data.
2) technical scheme: the particular content of the aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology is to concentrate the theoretical position information of product digital-to-analogue and the coordinate of laser tracker Real-time Obtaining assembly parts R point to compare project data, form position deviation, pass to kinetic control system, kinetic control system is by the analysis position deviation, generate the instruction of frock Pose Control, pass to flexible frock, flexible frock drives workpiece and adjusts together pose, synthetic operation by the three, form closed loop control system, complete fitting work.A kind of aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology of the present invention, relate to assembling and measure two technology, being both combinations, is not simple assembling or simple method of measurement, is the alignment measurement method that is applicable to aircraft components digitalisation flexible assembly.As shown in Figure 1, the overall procedure of alignment measurement method as shown in Figure 2 for the relation of alignment measurement system and boundary system on every side.This alignment measurement method comprises following implementation step:
Step 1: alignment measurement dead work:
The alignment measurement new field of technical activity mainly completes the dead work to the alignment measurement data model, and establishing the alignment measurement data is bases that alignment measurement carries out.The alignment measurement data mainly comprise reference point location data, assembly parts part data, frock data, assembling quality detecting data, measurement point position data, laser tracker position data, tool locating measurement point and other auxiliary coordinate point data.
Adopt independently digital model file lead-in mode, can meet the flexible requirement in different fittages.In whole fitting process, simplifying frock digital-to-analogue and assembly parts is the principal datas in dynamic assembly simulation, for real-time, interactive; Bench mark builds foundation is provided for assembly environment, assembling system of axes; Numeral mark work is the foundation of assembly quality check; Measurement point is the direct collection point of laser tracker in fitting process, is directly connected to execution and the final assembly quality of control system assembly order.Below detailed execution step:
1. concentrate and derive the frock data from project data, simplify the frock model, make each self-movement mechanism separately, so that alignment measurement emulation.
2. concentrate and derive the assembly parts data from project data, simplify the assembly parts model.
3. in aircraft components digitalisation flexible assembly process, the accuracy requirement of pressing design code in the practical set measurement environment, manufacture three gauge reference target holes and the target mirror be installed, and sets up alignment measurement environmental criteria point.Choose the ,Jiao position, limit as the frock framework, rigidity is high, opening character is good position in environment, set up more auxiliary base gage hatch.During the aircraft components assembling, if there is fixed part, also can select 3 bench marks as the aircraft assembly environment on it thereon.
4. according to the requirement of assembling quality detecting data, set up aircraft assembling digital master tooling, all need at least to demarcate 3 datum marks in each assembly parts in flexible assembly, the particular location of each datum mark can be determined according to actual conditions.While getting, should be noted, from positioning stablity, requirement accurately, getting a little must be in the laser tracker measurement range, and 3 leg-of-mutton interior angles that form will remain in preset range, tries not to occur the obtuse angle relation.
5. for tool positioner selects optical tooling ball point (Optical Tooling Points, OTP), for determining assembly tooling steady arm locus.Use laser tracker to install and adjust frock, install to realize high precision.
6. for laser tracker chosen position point and turn the station location point.To consider circumstance of occlusion, the limit that takes measurement of an angle and measuring distance restriction during chosen position point.Laser tracker turns choosing of station location point will be taken into consideration with choosing of auxiliary base point, because need to re-establish the alignment measurement system of axes according to the auxiliary base point after turning station, needs to guarantee to have at least three bench marks or auxiliary base point to be measured.
7. set up the system of axes of alignment measurement.Read bench mark theoretical coordinate value, by laser tracker, measure the target ball corresponding with bench mark, obtain the coordinate figure of reference point, solve the matrix conversion relation between laser tracker system of axes and assembling system of axes.Every in cooperative tracker is all carried out to this operation, and three data that laser tracker is surveyed like this are just unified in the assembling system of axes, and so far system coordinate system has been set up.
8. measure auxiliary base point position data, and be saved in the auxiliary base dot file.Under the assembling system of axes, with laser tracker, each auxiliary base point to be measured, result of a measurement is preserved with the precision of regulation.In the practical set process, as run into when setting up the alignment measurement system of axes, because block, dead angle, the former thereby laser tracker that cause such as range limited can't measure bench mark, make laser tracker at least meet and can measure three auxiliary base points, carry out matrix conversion with corresponding point coordinate figure in the observed reading of these auxiliary base points and auxiliary base dot file, complete the alignment measurement establishment of coordinate system turned behind station.
9., after establishment of coordinate system gets up, use mounting tool steady arm in laser tracker.When tool positioner assembles, measure the OPT point with laser tracker, and meanwhile carry out the position adjustment of tool positioner, until each key position parameter reaches tolerance.
Step 2: alignment measurement work
After alignment measurement dead work completes, start to carry out the alignment measurement work to aircraft components.In the alignment measurement process, not only need for control system provides take off data, also to monitor whole fitting process simultaneously and take off data is preserved to management.Whole fitting process needs many laser trackers to carry out the real-time parallel cooperative, should guarantee the high precision of data, meets again requirement of real time.The alignment measurement specific implementation process is as follows:
1. assembly parts enter position.After adjust the frock position, utilize hanging device to complete the position that enters of assembly parts.
2. import the assembling digital-to-analogue, as assembly parts digital-to-analogue, frock digital-to-analogue, laser tracker model, assembly parts numeral mark work etc.
3. alignment measurement starts the front work such as preheating, IP setting, networking establishment that each laser tracker is carried out, establish a communications link, and initialization, and detect the tracker mode of operation.
4. the control system hardware components is in place, and each software system complete initialization, and operating personal sends the execution assembly order through assembly system master interface.The alignment measurement system starts to start the dynamic measurement work of many trackers after receiving and carrying out assembly order.
5. when assembling starts, the alignment measurement system sends to each alignment measurement point initial position data of control system and alignment measurement point theoretical position data, and sends the order of carrying out the assembling action.Control system is calculated the step-length of control mechanism according to the deviometer of position, carry out afterwards the assembling action.
6. in actuating unit is being carried out the process of assembling action, laser tracker is according to certain frequency collection measurement point data, each data that gather are all done the first difference computing with the data point gathered last time, if difference is in very little scope, and continued the long period, assert actuating unit assembling release; Otherwise continue to gather the measurement point data with fixed frequency.
7. after actuating unit assembling release, contrast current location point and theoretical position point, if both differences meet the build-up tolerance requirement, assembled, and finishes alignment measurement work; If difference is larger, return to the 5th step.In fitting process, as unexpected in assembling occurred, operating personal can send and stop assembly order by assembly system master interface.
8. after fitting work completes, operating personal sends the recovery assembly order by assembly system master interface, makes software system and carries out hardware recovery for the assembling initial condition, waits for next fittage.
Step 3: real-time parallel cooperative
Dynamically the assembling real-time simulation need to be measured the assembly parts location information and be analyzed confined state by many laser trackers in fitting process, and whole fitting process is without manual intervention.In order to meet take off data real-time synchronization, each laser tracker concurrent collaborative, measure, take off data manages requirement easily, the present invention proposes the real-time parallel cooperated measuring method based on multithreading.The method is applicable too to other measuring equipments of non-laser tracker, is applicable to the hybrid parallel cooperative of polymorphic type measuring equipment.The real-time parallel measurement is the core of whole measurement fitting work, mainly is based on ICP/IP protocol, and the local area network communication of setting up between laser tracker group and main frame connects, and as shown in Figure 4, idiographic flow is as follows for diagram of circuit:
1. set up local area network
The mode of foundation can be wired routing mode, also can be by wireless connections.Laser tracker group and client computer are set in the same network segment.
2. multi-threaded parallel is measured
When the separate unit laser tracker is measured, do not relate to the systematic survey problem.Employing, in single process, is set up and is measured the mode connected successively, can increase time overhead, and data management is also inconvenient.If adopt the mode of multithreading, can give several measurement threads the control of each laser tracker, measure thread and only be responsible for measuring and the biography value, by the management of operating system, can well guarantee that the concurrent collaborative of take off data obtains.
The present invention proposes multithreading communication connection mode, according to the laser tracker number of devices, client dynamic assignment thread, each thread is responsible for the surveying work of independent laser tracker, the client main thread is responsible for controlling each laser tracker thread, be responsible for and the communicating by letter of control system, the laser tracker measurement pattern is set to the dynamic measurement pattern simultaneously.Concrete implementation is as follows:
1. after alignment measurement starts, the process dynamic assignment is respectively measured thread, and each thread is set up the communication connection of a set of laser tracker, and measurement pattern is set is the dynamic measurement pattern.
2. arranging and measuring thread is the alignment measurement state, and under this state, each is measured thread and sends measuring command to the laser tracker server immediately.
3. after the laser tracker server is received measuring command, the return measurement value.
4. under the alignment measurement state, measuring thread need take multiple measurements, and obtains the average of measurement point position, and this numerical value is called the alignment measurement data.
5. measure thread average is sent to main thread, and arrange that to measure thread be the control measurement state.
6., after main thread obtains the take off data of multiple spot, the take off data matrix conversion, under the alignment measurement system of axes, packing sends to control system.
7. control system is made feedback according to take off data, and carries out the assembling action.
8. measure thread during control system is carried out the assembling action, always in the control measurement state.Under this state, alignment measurement system main thread is measured thread every certain cycle and is sent a control measurement order to each, measures thread and obtains immediately current location data information, directly returns to this numerical value, and this numerical value is called the simulated measurement data.
9. after main thread gets the simulated measurement data, data retransmission to real-time emulation system and the assembling historical engineering system.
10., after assembling performs an action and finishes, as need be again obtained the rigging position data, return to the 2nd step.
11. in fitting process, as run into the disconnected light situation of laser tracker, if the current thread state is the alignment measurement state, stop assembling, and eject disconnected light warning, after the disconnected light reason of operating personal investigation, select to continue assembly order and complete follow-up assembling; If current state is the control measurement state, give up current measurement point data packet, continue assembling.
3. take off data arranges
After one time fitting work completes, disconnect each laser tracker and connect, close and respectively measure thread, take out in fitting process
The real-time parallel take off data, preserve with document form.
3) advantage and effect: advantage of the present invention and good effect
Aircraft components digitalisation flexible assembly measurement technique is to utilize digitizer and technology, completes the methodology of automatic, fast and accurate measurement purpose, task and work with computer controlled.Its effect and advantage mainly comprise following some:
(1) have the ability that automatic, high precision completes large-scale alignment measurement task, in whole fitting process, operating personal clicks and starts the fittage button, and the remaining tasks such as point, assembling, data processing of adopting complete automatically by system.
(2) because the alignment measurement task can adapt to different numeral mark works, different assembling digital-to-analogues, whole alignment measurement method is highly suitable for digitalisation flexible assembly work, meets flexible requirement.
(3) laser tracker multi-threaded parallel cooperated measuring method can be avoided triggering the asynchronous real-time problem of dtmf distortion DTMF caused because of the measuring command of many laser trackers, and adopt the method for respectively measuring a measuring equipment of thread single pipe reason, be convenient to management and the total tune of take off data.
The accompanying drawing explanation
Fig. 1 alignment measurement system and boundary system concern schematic diagram
Fig. 2 aircraft components digitalisation flexible assembly measurement procedure block diagram
Fig. 3 alignment measurement simulated environment schematic diagram
Fig. 4 multithreading method of measurement diagram of circuit
The specific embodiment
Introduce in detail the specific embodiment of alignment measurement method below in conjunction with aircraft components digitalisation flexible assembly work.In digitalisation flexible assembly system, whole alignment measurement system software platform is to take the software architecture of Opencascade as how much kernels, take C++ as development language, whole alignment measurement method is all to realize under this software environment, the sidewall paneling that target is aircraft and base plate, and wherein wallboard size (the long x of high x is thick) is about 4m x4m x2mm, the large thickness of size is little, poor rigidity, build-up tolerance requires as 0.5mm, and base plate is fixed part.The relation of alignment measurement system and boundary system on every side as shown in Figure 1.
See Fig. 2, a kind of aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology of the present invention, its alignment measurement execution step in detail is as follows:
Step 1: alignment measurement dead work:
Aircraft components digitalisation flexible assembly is measured dead work and is mainly comprised that digital-to-analogue is processed, numeral mark work is set up, the work such as bench mark is chosen, laser tracker location layout, and these work are bases of digitalisation alignment measurement.Below detailed execution step:
1. frock mathematical model simplification
The frock digital model comprises framework, steady arm etc., and to static part, as framework etc., dynamic part independently is reduced to the STEP form as each location-independent arm, adaptor union, slide block philosophy, is mainly to be convenient to each model emulation material object in fitting process.
2. assembly parts are simplified
Take the airframe parts as example, and assembly parts comprise base plate, two side wall panels, bulkhead etc., due to data, from the product engineering data collection, and are that the assembling model data volume is very big, are not easy to simulation calculation, need to be reduced to the STEP form.
3. set up bench mark
Choose P1 (0,0,0), P2 (2000,0,0), P3(0,2000,0 in assembly environment) 3 as the alignment measurement bench mark, and data are manufactured target position according to this, fix the target mirror, 3 numeral mark works that the theoretical position model is system of axes.According to frock practical layout situation, choose the position that opening character, stability are higher and make alignment measurement auxiliary base point.Use laser tracker to measure three bench marks, the numerical value of result of a measurement is the value under the laser tracker local Coordinate System, not assembles the value under system of axes, the transition matrix of two groups of system of axess of demand solution.The transition matrix method for solving is comparatively common, and the present invention is not introduced.
4. set up the auxiliary base point
After having solved transition matrix, can set up the corresponding relation of laser tracker take off data and assembly environment upper/lower positions data.Use laser tracker to measure each alignment measurement auxiliary base point, result of a measurement saves as the xml file.Part measurement point data are as shown in table 1:
Table 1 auxiliary base point coordinate value
| Sequence number | X coordinate (mm) | Y coordinate (mm) | Z coordinate (mm) |
| 1 | 11312.196 | 3999.617 | 20.395 |
| 2 | 11332.389 | 7071.520 | 20.398 |
| 3 | 5312.765 | 7721.718 | 20.401 |
| 4 | 5352.319 | 4649.918 | 20.398 |
| 5 | 6980.675 | 2045.876 | 0.655 |
5. set up assembly parts numeral mark work
According to the requirement of assembling quality detecting data, set up aircraft assembling digital master tooling, all at least need to demarcate 3 datum marks in each assembling in flexible assembly, the particular location of each datum mark can be determined according to actual conditions.While getting, should be noted, from positioning stablity, requirement accurately, getting a little must be in the laser tracker measurement range, and 3 leg-of-mutton interior angles that form will keep within the specific limits.The wall panel assembly of take in body parts is set up digital master tooling as example, and other wallboards numeral mark work method for building up are identical.Concrete grammar is to construct according to actual needs 3 points on the CATIA of wallboard model, and preserves this 3 points of the theoretical principle as wallboard, and the theoretical numerical value of 3 is:
P1(9023.247,2765.613,2321.321)
P2(6680.342,2356.753,2281.589)
P3（6680.254,1820.295,453.997）
6. choose optical tooling ball point
For frock is selected optical tooling ball point (Optical Tooling Points, OTP), for determining assembly tooling steady arm locus, by Fixture Design department design theory position and tolerance.The use laser tracker is installed, to realize the high precision mounting tool.
7. for laser tracker chosen position point and turn the station location point
To consider circumstance of occlusion, the limit that takes measurement of an angle and measuring distance restriction during chosen position point.Laser tracker turns choosing of station location point will be taken into consideration with choosing of auxiliary base point, because need to re-establish the alignment measurement system of axes according to the auxiliary base point after turning station, needs to guarantee to have at least three bench marks or auxiliary base point to be measured.
8. set up the system of axes of alignment measurement
Read bench mark theoretical coordinate value, by laser tracker, measure the target ball corresponding with bench mark, obtain the coordinate figure of reference point, solve the matrix conversion relation between laser tracker system of axes and assembling system of axes.Every in cooperative tracker is all carried out to this operation, and three data that laser tracker is surveyed like this are just unified in the assembling system of axes, and so far the alignment measurement system coordinate system has been set up.
9. turn the reconstruction of the rear alignment measurement system of axes in station
In the practical set process, as run into when setting up the alignment measurement system of axes, because block, dead angle, the former thereby laser tracker that cause such as range limited can't measure bench mark, make laser tracker at least meet and can measure three auxiliary base points, carry out matrix conversion with corresponding point coordinate figure in the observed reading of these auxiliary base points and auxiliary base dot file, complete the alignment measurement establishment of coordinate system turned behind station.
10. frock Installation and Debugging
After establishment of coordinate system gets up, use mounting tool steady arm in laser tracker.When tool positioner assembles, measure the OPT point with laser tracker, and meanwhile carry out the position adjustment of tool positioner, until each key position parameter reaches tolerance.
Step 2: alignment measurement work
After measurement environment has built, start to carry out the alignment measurement work to aircraft components, measuring equipment is 3 Leica901 model laser trackers, and measuring object is three measurement points on right wallboard.In the alignment measurement process, not only need for control system provides take off data, also to monitor whole fitting process simultaneously.Whole fitting process needs three laser trackers measurement point to be adopted to the mode of real-time parallel, should guarantee the high precision of data, meets again requirement of real time.Whole assembly environment as shown in Figure 3.The assembling specific implementation process is as follows:
1. assembly parts enter position
In fitting process, first right wallboard is lifted on flexible frock, wallboard is that ball pivot is connected with the connection mode of frock, and the characteristics that are connected according to assembly parts with frock, complete assembly parts and enter position, suitably adjusts frock in order to avoid produces assembly stress.
2. import the assembling digital-to-analogue, comprise base plate and assembling framework digital-to-analogue, frock digital-to-analogue, laser tracker model, right wallboard numeral mark work etc.
3. laser tracker is measured and is prepared
Alignment measurement starts that front each laser tracker is carried out preheating about 10 minutes, host ip is set is 192.168.0.1, it is 192.168.0.2,192.168.0.3,192.168.0.4 that three laser tracker server ips are set respectively, three laser trackers complete communication and initialization, and the testing state.
4. the control system hardware components is in place, and each software system complete initialization, and operating personal sends the execution assembly order through assembly system master interface.The alignment measurement system starts to start the dynamic measurement work of 3 trackers after receiving and starting assembly order.In assembly system, system alignment measurement state variable is set, to identify the operating state of current alignment measurement work, operating state has five kinds, is respectively assembling initial condition, assembling action executing state, assembling action halted state, assembling completion status, assembling status of fail.
5., when assembling starts, the confined state variable set up is the assembling initial condition.The alignment measurement system sends to the right wallboard measurement point of control system initial position data and right wallboard measurement point theoretical position data, and sends the order of carrying out the assembling action, current confined state is set for assembling action executing state.
6. after control system receives data, calculate the step-length of control mechanism according to the deviometer of position, carry out afterwards the assembling action.
7. in actuating unit is being carried out the process of assembling action, laser tracker gathered one-shot measurement point data every 0.5 second, each data that gather are all done the first difference computing with the data point gathered last time, if difference is in 0.01mm, and time length was over 10 seconds, assert actuating unit assembling release, current confined state is set for assembling action halted state; Otherwise continue take 0.5 second as fixed cycle collection measurement point data, and data that gather were once preserved every 5 seconds.
8. after actuating unit assembling release, contrast current location point and theoretical position point, if both differences meet the build-up tolerance requirement, assembled, and current confined state is set for the assembling completion status; If difference is larger, return to the 5th step.In fitting process, as unexpected in assembling occurred, operating personal can send and stop assembly order by assembly system master interface.
9. after fitting work completes, operating personal sends the recovery assembly order by assembly system master interface, makes software system and carries out hardware recovery for the assembling initial condition, waits for next fittage.
Step 3: real-time parallel method of measurement
Dynamically the assembling real-time simulation need to be in fitting process, and three laser trackers need real-time collaborative to complete surveying work.In the laser tracker TPI of Leica901 model, the need of work socket class CESSocket that separate unit is measured, information send class CESAPICommand, information receives class CESAPIReceive and jointly completes, during many laser tracker cooperatives, if the measuring command of three laser trackers focuses in a process, the confusion that can cause take off data, and the synchronism of data is also influenced.Adopt the mode of multithreading, create individual threads and go the surveying work of managing the separate unit laser tracker to address the above problem, and program is comparatively succinct, structural good.Fig. 4 is multithreading method of measurement diagram of circuit, and multithreading is measured overall procedure as technical scheme steps three, and the detailed process of single measurement data is as follows:
1. set up being connected of 3 laser trackers and client computer in the wired connection mode, IP is set in the same network segment.
2. integrated socket class, information send class, information to accept class are the laser tracker communication class, are that thread class adds the laser tracker class members.
3. after the alignment measurement system receives and starts the alignment measurement order, thread is respectively measured in the system process dynamic creation, each thread is set up a set of laser tracker communication connection, and the laser tracker member in thread provides essential function interface in all kinds of laser tracker measurement processes.
4. the system main thread sends measuring command to measuring thread.
5. after measuring thread and receiving measuring command, the logic communication interface such as socket class inner by it sends the measuring point order to laser tracker equipment, does not need to wait for that laser tracker surveyed data, directly returns immediately.The triggering that so can guarantee each laser tracker measuring command has very high synchronism.
6. after laser tracker is received measuring command, complete surveying work, the packing of measurement point data is sent to corresponding thread.
7. the communications reception response function of measuring thread inside is triggered, and completes data receiver, and sends the result of a measurement data to the measuring system main thread.Because cross-thread has independence, measurement process does not each other interfere with each other.
8. the data that alignment measurement system main thread measures with laser track instrument every are all carried out the coordinate dress and are changed, the data dress is changed under unified assembling system of axes, after completing the data packing, send to control system or analogue system, and preserve some data as measuring the assembling historical information.
9., after one-shot measurement work completes, wait for the main thread measuring command of next time.
Claims (1)
1. the aircraft components digitalisation flexible assembly method of measurement based on the laser tracking measurement technology, it is characterized in that: this alignment measurement method comprises following steps:
Step 1: alignment measurement dead work:
The alignment measurement new field of technical activity completes the dead work to the alignment measurement data model, and establishing the alignment measurement data is bases that alignment measurement carries out; The alignment measurement data comprise reference point location data, assembly parts part data, frock data, assembling quality detecting data, measurement point position data, laser tracker position data, tool locating measurement point and other auxiliary coordinate point data;
Adopt independently digital model file lead-in mode, meet the flexible requirement in different fittages; In whole fitting process, simplifying frock digital-to-analogue and assembly parts is the principal datas in dynamic assembly simulation, for real-time, interactive; Bench mark builds foundation is provided for assembly environment, assembling system of axes; Numeral mark work is the foundation of assembly quality check; Measurement point is the direct collection point of laser tracker in fitting process, is directly connected to execution and the final assembly quality of control system assembly order; Below detailed execution step:
Step 1.1. concentrates and derives the frock data from project data, simplifies the frock model, makes each self-movement mechanism separately, so that alignment measurement emulation;
Step 1.2. concentrates and derives the assembly parts data from project data, simplifies the assembly parts model;
Step 1.3. is in aircraft components digitalisation flexible assembly process, and the accuracy requirement of pressing design code in the practical set measurement environment, manufacture three gauge reference target holes and the target mirror is installed, and sets up alignment measurement environmental criteria point; Choose the ,Jiao position, limit as the frock framework, rigidity is high, opening character is good position in environment, set up more auxiliary base gage hatch; During the aircraft components assembling, if there is fixed part, select 3 bench marks as the aircraft assembly environment on it thereon;
Step 1.4., according to the requirement of assembling quality detecting data, sets up aircraft assembling digital master tooling, all needs at least to demarcate 3 datum marks in each assembly parts in flexible assembly, and the particular location of each datum mark is determined according to actual conditions; While getting, should be noted, from positioning stablity, requirement accurately, getting a little must be in the laser tracker measurement range, and 3 leg-of-mutton interior angles that form will remain in preset range, tries not to occur the obtuse angle relation;
Step 1.5. be tool positioner to select optical tooling ball point be Optical Tooling Points, OTP, for determining assembly tooling steady arm locus; Use laser tracker to install and adjust frock, install to realize high precision;
Step 1.6. is laser tracker chosen position point and turns the station location point, will consider circumstance of occlusion, the limit that takes measurement of an angle and measuring distance restriction during chosen position point; Laser tracker turns choosing of station location point will be taken into consideration with choosing of auxiliary base point, because need to re-establish the alignment measurement system of axes according to the auxiliary base point after turning station, needs to guarantee to have at least three bench marks or auxiliary base point to be measured;
Step 1.7. sets up the system of axes of alignment measurement, read bench mark theoretical coordinate value, measure the target ball corresponding with bench mark by laser tracker, obtain the coordinate figure of reference point, solve the matrix conversion relation between laser tracker system of axes and assembling system of axes; Every in cooperative tracker is all carried out to this operation, and three data that laser tracker is surveyed like this are just unified in the assembling system of axes, and so far system coordinate system has been set up;
Step 1.8. measures auxiliary base point position data, and is saved in the auxiliary base dot file; Under the assembling system of axes, with laser tracker, each auxiliary base point to be measured, result of a measurement is preserved with the precision of regulation; In the practical set process, as run into when setting up the alignment measurement system of axes, because block, dead angle, range limited former thereby laser tracker that cause can't measure bench mark, make laser tracker at least meet and can measure three auxiliary base points, carry out matrix conversion with corresponding point coordinate figure in the observed reading of these auxiliary base points and auxiliary base dot file, complete the alignment measurement establishment of coordinate system turned behind station;
After step 1.9. establishment of coordinate system gets up, use mounting tool steady arm in laser tracker; When tool positioner assembles, measure the OPT point with laser tracker, and meanwhile carry out the position adjustment of tool positioner, until each key position parameter reaches tolerance;
Step 2: alignment measurement work:
After alignment measurement dead work completes, start to carry out the alignment measurement work to aircraft components; In the alignment measurement process, not only need for control system provides take off data, also to monitor whole fitting process simultaneously and take off data is preserved to management; Whole fitting process needs many laser trackers to carry out the real-time parallel cooperative, should guarantee the high precision of data, meets again requirement of real time; The alignment measurement specific implementation process is as follows:
Step 2.1. assembly parts enter position, after adjust the frock position, utilize hanging device to complete the position that enters of assembly parts;
Step 2.2. imports the assembling digital-to-analogue, as assembly parts digital-to-analogue, frock digital-to-analogue, laser tracker model, assembly parts numeral mark work;
Step 2.3. alignment measurement starts front each laser tracker to be carried out to preheating, IP setting, networking building work, establishes a communications link, and initialization, and detect the tracker mode of operation;
Step 2.4. control system hardware components is in place, and each software system complete initialization, and operating personal sends the execution assembly order through assembly system master interface, and the alignment measurement system starts to start the dynamic measurement work of many trackers after receiving and carrying out assembly order;
When step 2.5. assembling starts, the alignment measurement system sends to each alignment measurement point initial position data of control system and alignment measurement point theoretical position data, and sends the order of carrying out the assembling action; Control system is calculated the step-length of control mechanism according to the deviometer of position, carry out afterwards the assembling action;
Step 2.6. is carrying out in the process of assembling action at actuating unit, laser tracker is according to certain frequency collection measurement point data, each data that gather are all done the first difference computing with the data point gathered last time, if difference is in very little scope, and continued the long period, assert actuating unit assembling release; Otherwise continue to gather the measurement point data with fixed frequency;
After step 2.7. actuating unit assembling release, contrast current location point and theoretical position point, if both differences meet the build-up tolerance requirement, assembled, and finishes alignment measurement work; If difference is larger, return to the 5th step; In fitting process, as unexpected in assembling occurred, operating personal sends and stops assembly order by assembly system master interface;
After step 2.8. fitting work completes, operating personal sends the recovery assembly order by assembly system master interface, makes software system and carries out hardware recovery for the assembling initial condition, waits for next fittage;
Step 3: real-time parallel cooperative:
Dynamically the assembling real-time simulation need to be measured the assembly parts location information and be analyzed confined state by many laser trackers in fitting process, and whole fitting process is without manual intervention; In order to meet take off data real-time synchronization, each laser tracker concurrent collaborative, measure, take off data manages requirement easily, proposed the real-time parallel cooperated measuring method based on multithreading; The method is applicable too to other measuring equipments of non-laser tracker, is applicable to the hybrid parallel cooperative of polymorphic type measuring equipment; The real-time parallel measurement is the core of whole measurement fitting work, and it is based on ICP/IP protocol, and the local area network communication of setting up between laser tracker group and main frame connects, and idiographic flow is as follows:
Step 3.1. sets up local area network
The mode of foundation is wired routing mode, or by wireless connections; Laser tracker group and client computer are set in same
One network segment;
Step 3.2. multi-threaded parallel is measured
When the separate unit laser tracker is measured, do not relate to the systematic survey problem; Employing, in single process, is set up and is measured the mode connected successively, can increase time overhead, and data management is also inconvenient; If adopt the mode of multithreading, give several measurement threads the control of each laser tracker, measure thread and only be responsible for measuring and the biography value, by the management of operating system, can well guarantee that the concurrent collaborative of take off data obtains;
Multithreading communication connection mode, according to the laser tracker number of devices, client dynamic assignment thread, each thread is responsible for the surveying work of independent laser tracker, the client main thread is responsible for controlling each laser tracker thread, be responsible for and the communicating by letter of control system, the laser tracker measurement pattern is set to the dynamic measurement pattern simultaneously; Concrete implementation is as follows:
After step 3.2.1. alignment measurement starts, the process dynamic assignment is respectively measured thread, and each thread is set up the communication connection of a set of laser tracker, and measurement pattern is set is the dynamic measurement pattern;
Step 3.2.2. arranges and measures thread is the alignment measurement state, and under this state, each is measured thread and sends measuring command to the laser tracker server immediately;
After step 3.2.3. laser tracker server is received measuring command, the return measurement value;
Step 3.2.4. is under the alignment measurement state, and measuring thread need take multiple measurements, and obtains the average of measurement point position, and this numerical value is called the alignment measurement data;
Step 3.2.5. measures thread average is sent to main thread, and arranges that to measure thread be the control measurement state;
After step 3.2.6. main thread obtains the take off data of multiple spot, the take off data matrix conversion, under the alignment measurement system of axes, packing sends to control system;
Step 3.2.7. control system is made feedback according to take off data, and carries out the assembling action;
Step 3.2.8. measures thread during control system is carried out the assembling action, always in the control measurement state; Under this state, alignment measurement system main thread is measured thread every certain cycle and is sent a control measurement order to each, measures thread and obtains immediately current location data information, directly returns to this numerical value, and this numerical value is called the simulated measurement data;
After step 3.2.9. main thread gets the simulated measurement data, data retransmission to real-time emulation system and the assembling historical engineering system;
Step 3.2.10. assembling as need be again obtained the rigging position data, is returned to the 2nd step after performing an action and finishing;
Step 3.2.11., in fitting process, as runs into the disconnected light situation of laser tracker, if the current thread state is the alignment measurement state, stop assembling, and eject disconnected light warning, after the disconnected light reason of operating personal investigation, select to continue assembly order and complete follow-up assembling; If current state is the control measurement state, give up current measurement point data packet, continue assembling;
Step 3.3. take off data arranges
After one time fitting work completes, disconnect each laser tracker and connect, close and respectively measure thread, take out in fitting process
The real-time parallel take off data, preserve with document form.
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| CN114408210A (en) * | 2022-01-18 | 2022-04-29 | 中国民用航空飞行学院 | Airplane structure characteristic parameter digital horizontal measurement method |
| CN114633898A (en) * | 2022-03-25 | 2022-06-17 | 成都飞机工业（集团）有限责任公司 | Measuring method, device, equipment and medium for adjusting attitude of airplane component |
| CN114633898B (en) * | 2022-03-25 | 2024-02-23 | 成都飞机工业（集团）有限责任公司 | Measurement method, device, equipment and medium for attitude adjustment of aircraft component |
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