CN103434653B - 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 laser tracking measurement technology, belongs to laser tracking measurement technology and aircraft digital assembling field.
Background technology
Contemporary aircraft design is towards the future development of structural entity, part maximization, manufacture precise treatment, and this not only increases the difficulty that part manufactures, and also improves 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, employs digital definition model and optical measurement location technology, equipment in a large number.Domestic Aircraft manufacture and assembling aspect also weaker, the technology of these advanced persons, not by systematic research and utilization, does not form the system of complete set.
Numeric terminal measurement technique is one of gordian technique of large aircraft manufacture, the overall process that it manufactures through large aircraft.In recent years, laser tracking measurement technology is extensively introduced by each large Aviation Manufacturing Enterprises, but be mainly used in the aspect such as quality testing, frock installation, fail to make breakthroughs at numeric terminal technical elements, cause aircraft manufacturing cost to remain high, cause advanced measuring equipment can not 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 can reduce change in design simultaneously to greatest extent in benefit, reduce rework rate of makeing mistakes, improve assembly precision, be the problem waiting to study and solve during China's aeronautical manufacture is produced always.
For the feature of aircraft components, setting up numeral mark work by adopting, utilizing laser tracker assembly tooling to be installed, to fabrication data Real-time Collection in fitting process, and to the method that assembling effect emulates, quality and the efficiency of aircraft components assembling significantly can be improved.
Summary of the invention
1) object: laser tracking measurement technology is mainly used in accuracy detection, frock installation at Field of Aviation Manufacturing, application for transporation by plane field is also immature, especially, in aircraft components digitalisation flexible assembly process, 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 laser tracking measurement technology, it is that one utilizes laser tracking measurement technology,, smart requirement degree high requirement complicated for flexibility assembling in large aircraft assembling, process and the new alignment measurement method that proposes, have very strong practicality and feasibility.
Alignment measurement method object in the present invention is to solve following a few class problem:
1. meet flexible assembly requirement
In the transporation by plane process in modern times, because aircraft type improves more frequent, have high requirements to efficiency of assembling, assembly tooling flexibility becomes development tendency, and alignment measurement method also will meet flexibility requirement.The foundation that digitalisation flexible assembly is coordinated for size with the work of numeral mark, the alignment measurement method proposed in invention can perform different fittage according to different numeral mark works, meets flexible assembly requirement.The aircraft components digitalisation flexible assembly method of measurement proposed in the present invention is one of core technology of the present invention.
2. real-time parallel cooperative
In aircraft components fitting process, need to determine multiple spot position data in real time, the collaborative work of multiple stage laser tracker just can complete surveying work.According to the multiple stage laser tracker real-time collaborative problem run in practical set, the present invention proposes multi-threaded parallel cooperative mode, it is one of core technology of the present invention.
3. improve Assembly veracity
Because assembly tooling can exist certain error in manufacture and erection process, in traditional assembly method, transporation by plane quality can be subject to the impact of frock accuracy of manufacture.Adopt numeric terminal method of measurement, direct basis numeral mark work transmits the fitted position data of aircraft components, and assembly precision is improved.
4. build alignment measurement environment
In numeric terminal measurement process, for the ease of the carrying out of alignment measurement, need on software view, consider that real-time measurement process is mutual, as the numerical value etc. of the display to assembly parts change in location, confined state prompting, all kinds of quality inspection index.In alignment measurement process, take off data adopts packing manner to send to real-time emulation system, and is stored as emulation historical record data.
2) technical scheme: the particular content based on the aircraft components digitalisation flexible assembly method of measurement of laser tracking measurement technology project data is concentrated the theoretical position information of product digital-to-analogue and the coordinate comparison of laser tracker Real-time Obtaining assembly parts R point, forming position deviation, pass to kinetic control system, kinetic control system is by analysis position deviation, generate the instruction of frock Pose Control, pass to flexible frock, flexible frock drives workpiece to adjust pose together, by the synthetic operation of three, form closed loop control system, complete fitting work.A kind of aircraft components digitalisation flexible assembly method of measurement based on laser tracking measurement technology of the present invention, relate to assembling and measure two technology, be both combinations, not simple assembling or simple method of measurement, be the alignment measurement method being 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 surrounding boundary system.This alignment measurement method comprises following implementation step:
Step one: alignment measurement dead work:
The alignment measurement new field of technical activity mainly completes the dead work to alignment measurement data model, and establishing alignment measurement data is bases that alignment measurement carries out.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, the flexibility requirements in different fittage can be met.In whole fitting process, simplification frock digital-to-analogue and assembly parts are the principal datas in dynamical assemble emulation, for real-time, interactive; Bench mark is assembly environment, assembling system of axes builds and provides foundation; Numeral mark work is the foundation of assembly quality inspection; Measurement point is the direct collection point of laser tracker in fitting process, is directly connected to the execution of control system assembly order and final assembly quality.Below perform step in detail:
1. concentrate from project data and derive frock data, simplify frock model, Shi Ge self-movement mechanism separates, so that alignment measurement emulation.
2. concentrate from project data and derive assembly parts data, simplify assembly parts model.
3. in aircraft components digitalisation flexible assembly process, in practical set measurement environment, press the accuracy requirement of design code, manufacture three gauge reference target holes and target mirror is installed, setting up alignment measurement environmental criteria point.Choose rigidity is high, opening character is good position in the environment as the limit of frock framework, Angle Position, set up more auxiliary base gage hatch.During aircraft components assembling, if there is fixed part, also can select 3 bench marks as transporation by plane environment on it thereon.
4., according to the requirement of assembling quality detecting data, set up transporation by plane digital master tooling, all need in each assembly parts in flexible assembly at least to demarcate 3 datum marks, the particular location of each datum mark can be determined according to actual conditions.Should be noted when to get, from positioning stablity, accurately requirement, getting a little must in laser tracker measurement range, and 3 leg-of-mutton interior angles formed will remain in preset range, try not to occur 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 mounting and adjusting frock, install to realize high precision.
6. be laser tracker chosen position point and turn station location point.Circumstance of occlusion to be considered during chosen position point, the limit that takes measurement of an angle and measuring distance restriction.Laser tracker turns choosing of station location point and will take into consideration with choosing of auxiliary base point, because need after turning station to re-establish alignment measurement system of axes according to auxiliary base point, needs 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, 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.All carry out this operation to the every platform tracker in cooperative, three data that laser tracker is surveyed like this are just unified in 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 auxiliary base dot file.Under assembling system of axes, measure each auxiliary base point with laser tracker, result of a measurement is preserved with the precision of regulation.In practical set process, as run into when setting up alignment measurement system of axes, because block, dead angle, the reason such as the range limited and laser tracker caused cannot measure bench mark, laser tracker is at least met 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 after turning station.
9., after establishment of coordinate system gets up, use mounting tool steady arm in laser tracker.When tool positioner assembles, measure OTP point with laser tracker, while 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 perform the alignment measurement work to aircraft components.In alignment measurement process, not only need for control system provides take off data, also will monitor whole fitting process simultaneously and management is preserved to take off data.Whole fitting process needs many laser trackers to carry out real-time parallel cooperative, should ensure the high precision of data, meet requirement of real time again.Alignment measurement specific implementation process is as follows:
1. assembly parts enter position.After frock position is adjusted, what utilize hanging device to complete assembly parts enters position.
2. import 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 carries out the work such as preheating, IP setting, networking establishment to each laser tracker before starting, and establishes a communications link, initialization, and detecting and tracking instrument mode of operation.
4. control system hardware components is in place, and each software system complete initialization, and operating personal sends execution assembly order through the main interface of assembly system.After alignment measurement system acceptance to execution assembly order, start the dynamic measurement work starting multiple stage tracker.
5. when assembling starts, 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 performing assembling action.Control system calculates the step-length of control mechanism according to the deviometer of position, performs assembling action afterwards.
6. performing in the process of assembling action at actuating unit, laser tracker is according to certain frequency collection measurement point data, the data of each collection all do first difference computing with the data point gathered last time, if difference is in very little scope, and continue for the long period, namely assert actuating unit assembling release; Otherwise continue to gather measurement point data with fixed frequency.
7., after actuating unit assembling release, contrast current location point and theoretical position point, if both differences meet build-up tolerance requirement, then assembled, and terminates alignment measurement work; If difference is comparatively large, then return the 5th step.In fitting process, as occurred, assembling is unexpected, and operating personal can send stopping assembly order by the main interface of assembly system.
8. after fitting work completes, operating personal sends recovery assembly order by the main interface of assembly system, makes software system and performs hardware recovery for assembling initial condition, wait for next fittage.
Step 3: real-time parallel cooperative
Dynamical assemble real-time simulation needs in fitting process, and measure assembly parts location information by multiple stage laser tracker and analyze confined state, whole fitting process is without the need to manual intervention.In order to meet take off data real-time synchronization, each laser tracker concurrent collaborative is measured, take off data manages requirement easily, the present invention proposes the real-time parallel cooperated measuring method based on multithreading.The method other measuring equipments to non-laser tracker are suitable for too, are applicable to the hybrid parallel cooperative of polymorphic type measuring equipment.Real-time parallel measurement is the core of whole measurement fitting work, and mainly based on ICP/IP protocol, the local area network communication set 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 pass through wireless connections.Laser tracker group is set and client computer is in the same network segment.
2. multi-threaded parallel is measured
When separate unit laser tracker is measured, do not relate to systematic survey problem.Adopt in single process, set up the mode measured and connect successively, can increase time overhead, data management is also inconvenient.If adopt the mode of multithreading, several measurement thread can be given the control of each laser tracker, measure thread and be only responsible for measuring and biography value, by the management of operating system, can well ensure that the concurrent collaborative of take off data obtains.
The present invention proposes multi-threading correspondence connection mode, according to laser tracker number of devices, client dynamic assignment thread, each thread is responsible for the surveying work of independent laser tracker, client main thread is responsible for controlling each laser tracker thread, be responsible for the communication with control system, laser tracker measurement pattern is set to dynamic measurement pattern simultaneously.Concrete implementation is as follows:
2.1, after alignment measurement starts, process dynamic assignment respectively measures thread, and each thread sets up the communication connection of a set of laser tracker, and to arrange measurement pattern be dynamic measurement pattern.
2.2, arranging measurement thread is alignment measurement state, and in this case, each thread of measuring sends measuring command to laser tracker server immediately.
2.3, after laser tracker server receives measuring command, return measurement value.
2.4, under alignment measurement state, measuring thread need take multiple measurements, and obtain the average of measurement point position, this numerical value is called alignment measurement data.
2.5, measure thread average is sent to main thread, and arrange measure thread be control measurement state.
2.6, after main thread obtains the take off data of multiple spot, take off data matrix conversion under alignment measurement system of axes, packing sends to control system.
2.7, control system makes feedback according to take off data, and performs assembling action.
2.8, measure thread during control system performs assembling action, be in control measurement state always.In this case, alignment measurement system main thread sends a control measurement order every certain cycle to each measurement thread, and measure thread and obtain current location data information immediately, directly return this numerical value, this numerical value is called simulated measurement data.
2.9, after main thread gets simulated measurement data, data retransmission to real-time emulation system and assembling history engineering system.
2.10, after assembling performs an action and terminates, as need be again obtained rigging position data, the 2nd step is returned.
2.11, in fitting process, to break light situation as run into laser tracker, if current thread state is alignment measurement state, then stopping assembling, and eject disconnected light warning, after personnel to be operated investigate disconnected light reason, select to continue assembly order and complete follow-up assembling; If current state is control measurement state, then 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 each measurement thread, take out the real-time parallel take off data in fitting process, preserve with document form.
3) advantage and effect: advantage of the present invention and good effect
Aircraft components digitalisation flexible assembly measurement technique utilizes digitizer and technology, completes the methodology of automatic, fast and accurate measurement object, 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 fittage button, and the remaining tasks such as point, assembling, data processing of adopting complete automatically by system.
(2) because 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 flexibility requirements.
(3) laser tracker multi-threaded parallel cooperated measuring method can avoid the measuring command because of multiple stage laser tracker to trigger the asynchronous and real-time problem of dtmf distortion DTMF that causes, and adopt each measurement thread to manage separately the method for a measuring equipment, be convenient to management and the total tune of take off data.
Accompanying drawing explanation
Fig. 1 alignment measurement system and boundary system relation 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
Detailed description of the invention
The detailed description of the invention of alignment measurement method is described in detail below in conjunction with aircraft components digitalisation flexible assembly work.In digitalisation flexible assembly system, whole alignment measurement system software platform take Opencascade as the software architecture of geometry kernel, take C++ as development language, whole alignment measurement method is all realize under this software environment, and target is sidewall paneling and the base plate of aircraft, and wherein wallboard size (the long x of high x is thick) is about 4m x 4m x 2mm, size heavy thickness is little, poor rigidity, build-up tolerance requires that base plate is fixed part for 0.5mm.The relation of alignment measurement system and surrounding boundary system as shown in Figure 1.
See Fig. 2, a kind of aircraft components digitalisation flexible assembly method of measurement based on laser tracking measurement technology of the present invention, it is as follows that its alignment measurement performs step in detail:
Step one: alignment measurement dead work:
The work such as dead work mainly comprises digital-to-analogue process, numeral mark work is set up, bench mark is chosen, laser tracker location layout are measured in aircraft components digitalisation flexible assembly, and these work are bases that numeric terminal is measured.Below perform step in detail:
1. frock mathematical model simplification
Frock digital model comprises framework, steady arm etc., and to static part as framework etc., dynamic part is independently reduced to STEP form as each location-independent arm, adaptor union, slide block etc., is mainly convenient to each model emulation in fitting process in kind.
2. assembly parts simplify
For airframe components, assembly parts comprise base plate, two side wall panels, bulkhead etc., because data are from product engineering data collection, and are that assembling model data volume is very big, are not easy to simulation calculation, need to be reduced to STEP form.
3. set up bench mark
Choose in assembly environment, P1 (0,0,0), P2 (2000,0,0), P3 (0,2000,0) 3 as alignment measurement bench mark, and data manufacture target position according to this, and fix target mirror, 3 theoretical position models are the numeral mark work of system of axes.According to frock practical layout situation, choose the higher position of opening character, stability 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 laser tracker local Coordinate System, the value not under assembling system of axes, the transition matrix of demand solution two groups of system of axess.Transition matrix method for solving is comparatively common, and the present invention is not introduced.
4. set up auxiliary base point
After having solved transition matrix, the corresponding relation of laser tracker take off data and assembly environment upper/lower positions data can be set up.Use laser tracker to measure each alignment measurement auxiliary base point, result of a measurement saves as 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 transporation by plane digital master tooling, all at least need demarcation 3 datum marks in each assembling in flexible assembly, the particular location of each datum mark can be determined according to actual conditions.Should be noted when to get, from positioning stablity, accurately requirement, getting a little must in laser tracker measurement range, and 3 leg-of-mutton interior angles formed will keep within the specific limits.Set up digital master tooling for the wall panel assembly in body parts, other wallboard numeral mark work method for building up are identical.Concrete grammar is on the CATIA model of wallboard, construct 3 points according to actual needs, and preserves this 3 points of the theoretical principle as wallboard, and the theoretical values 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 selects optical tooling ball point (Optical Tooling Points, OTP), for determining assembly tooling steady arm locus, by Fixture Design department design theory position and tolerance.Use laser tracker is installed, to realize high precision mounting tool.
7. be laser tracker chosen position point and turn station location point
Circumstance of occlusion to be considered during chosen position point, the limit that takes measurement of an angle and measuring distance restriction.Laser tracker turns choosing of station location point and will take into consideration with choosing of auxiliary base point, because need after turning station to re-establish alignment measurement system of axes according to auxiliary base point, needs 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, 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.All carry out this operation to the every platform tracker in cooperative, three data that laser tracker is surveyed like this are just unified in assembling system of axes, and so far alignment measurement system coordinate system has been set up.
9. the reconstruction of the rear alignment measurement system of axes in turn station
In practical set process, as run into when setting up alignment measurement system of axes, because block, dead angle, the reason such as the range limited and laser tracker caused cannot measure bench mark, laser tracker is at least met 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 after turning 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 OTP point with laser tracker, while 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 perform 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 alignment measurement process, not only need for control system provides take off data, also will monitor whole fitting process simultaneously.Whole fitting process needs three laser trackers to adopt the mode of real-time parallel to measurement point, should ensure the high precision of data, meet requirement of real time again.Overall assembly environment as shown in Figure 3.Assembling specific implementation process is as follows:
1. assembly parts enter position
In fitting process, first right wallboard is lifted on flexible frock, wallboard and the connection mode of frock are that ball pivot is connected, according to the connection feature of assembly parts and frock, complete assembly parts and enter position, suitably adjust frock in order to avoid generation assembly stress.
2. import 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
Before alignment measurement starts to each laser tracker carry out preheating about 10 minutes, to arrange host ip be 192.168.0.1, arranging three laser tracker server ips is respectively 192.168.0.2,192.168.0.3,192.168.0.4, three laser trackers complete communication and initialization, and testing state.
4. control system hardware components is in place, and each software system complete initialization, and operating personal sends execution assembly order through the main interface of assembly system.After alignment measurement system acceptance to startup assembly order, start the dynamic measurement work starting 3 trackers.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 assembling initial condition, assembling action executing state, assembling action halted state, assembling completion status, assembling status of fail respectively.
5., when assembling starts, confined state variable set up is assembling initial condition.Alignment measurement system sends to control system right wallboard measurement point initial position data and right wallboard measurement point theoretical position data, and sends the order performing assembling action, arranges current confined state for assembling action executing state.
6. after control system receives data, calculate the step-length of control mechanism according to the deviometer of position, perform assembling action afterwards.
7. performing in the process of assembling action at actuating unit, laser tracker gathered one-shot measurement point data every 0.5 second, the data of each collection all do first difference computing with the data point gathered last time, if difference is within 0.01mm, and time length was more than 10 seconds, namely assert actuating unit assembling release, current confined state is set for assembling action halted state; Otherwise continue with 0.5 second for the fixed cycle gathers measurement point data, and the data gathered once were preserved every 5 seconds.
8. after actuating unit assembling release, contrast current location point and theoretical position point, if both differences meet build-up tolerance requirement, then assembled, and arranges current confined state for assembling completion status; If difference is comparatively large, then return the 5th step.In fitting process, as occurred, assembling is unexpected, and operating personal can send stopping assembly order by the main interface of assembly system.
9. after fitting work completes, operating personal sends recovery assembly order by the main interface of assembly system, makes software system and performs hardware recovery for assembling initial condition, wait for next fittage.
Step 3: real-time parallel method of measurement
Dynamical assemble real-time simulation needs in fitting process, and three laser trackers need real-time collaborative to complete surveying work.In the laser tracker TPI of Leica901 model, need of work socket class CESSocket, the information of separate unit measurement send class CESAPICommand, receives information class CESAPIReceive and jointly complete, during multiple stage laser tracker cooperative, if the measuring command of three laser trackers focuses in a process, can cause the confusion of take off data, and the synchronism of data is also influenced.Adopt the mode of multithreading, create individual threads and go the surveying work managing separate unit laser tracker to solve the problem, and program is comparatively succinct, structural good.Fig. 4 is multithreading method of measurement diagram of circuit, and multithreading measures overall procedure as technical scheme steps three, and the detailed process of single measurement data is as follows:
1. set up the connection of 3 laser trackers and client computer in wired connection mode, IP is set and is in the same network segment.
2. integrated socket class, information send class, information to accept class are laser tracker communication class, are that thread class adds laser tracker class members.
3. after alignment measurement system acceptance to beginning alignment measurement order, system process dynamic creation respectively measures thread, each thread sets up the communication connection of a set of laser tracker, and the laser tracker member in thread provides essential function interface in all kinds of laser tracker measurement process.
4. system main thread sends measuring command to measurement thread.
5. measure after thread receives measuring command, send measuring point order by logic communication interfaces such as the socket classes of its inside to laser tracker equipment, do not need to wait for that laser tracker has surveyed data, directly return immediately.So can ensure that the triggering of each laser tracker measuring command has very high synchronism.
6. after laser tracker receives measuring command, complete surveying work, the packing of measurement point data is sent to corresponding thread.
7. the communications reception response function measuring thread inside is triggered, and completes data receiver, and sends result of a measurement data to 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 obtains with measurements of laser track instrument every platform are all carried out coordinate and are filled and change, under making data dress change to unified assembling system of axes, after completing data packing, send to control system or analogue system, and preserve some data as measurement assembling historical information.
9., after one-shot measurement work completes, wait for the measuring command of main thread next time.
Claims (1)
1., based on an aircraft components digitalisation flexible assembly method of measurement for laser tracking measurement technology, it is characterized in that: this alignment measurement method comprises following steps:
Step one: alignment measurement dead work:
The alignment measurement new field of technical activity completes the dead work to alignment measurement data model, and establishing alignment measurement data is bases that alignment measurement carries out; 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 flexibility requirements in different fittage; In whole fitting process, simplification frock digital-to-analogue and assembly parts are the principal datas in dynamical assemble emulation, for real-time, interactive; Bench mark is assembly environment, assembling system of axes builds and provides foundation; Numeral mark work is the foundation of assembly quality inspection; Measurement point is the direct collection point of laser tracker in fitting process, is directly connected to the execution of control system assembly order and final assembly quality; Below perform step in detail:
Step 1.1. concentrates from project data and derives frock data, simplifies frock model, and Shi Ge self-movement mechanism separates, so that alignment measurement emulation;
Step 1.2. concentrates from project data and derives assembly parts data, simplifies assembly parts model;
Step 1.3., in aircraft components digitalisation flexible assembly process, presses the accuracy requirement of design code in practical set measurement environment, manufactures three gauge reference target holes and installs target mirror, setting up alignment measurement environmental criteria point; Choose rigidity is high, opening character is good position in the environment as the limit of frock framework, Angle Position, set up more auxiliary base gage hatch; During aircraft components assembling, if there is fixed part, select 3 bench marks as transporation by plane environment on it thereon;
Step 1.4. is according to the requirement of assembling quality detecting data, and set up transporation by plane digital master tooling, all need in each assembly parts in flexible assembly at least to demarcate 3 datum marks, the particular location of each datum mark is determined according to actual conditions; Should be noted when to get, from positioning stablity, accurately requirement, getting a little must in laser tracker measurement range, and 3 leg-of-mutton interior angles formed will remain in preset range, try not to occur obtuse angle relation;
Step 1.5. is that tool positioner selects optical tooling ball point OTP, for determining assembly tooling steady arm locus; Use laser tracker mounting and adjusting frock, install to realize high precision;
Step 1.6. is laser tracker chosen position point and turns station location point, circumstance of occlusion to be considered during chosen position point, the limit that takes measurement of an angle and measuring distance restriction; Laser tracker turns choosing of station location point and will take into consideration with choosing of auxiliary base point, because need after turning station to re-establish alignment measurement system of axes according to auxiliary base point, needs 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; All carry out this operation to the every platform tracker in cooperative, three data that laser tracker is surveyed like this are just unified in 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 auxiliary base dot file; Under assembling system of axes, measure each auxiliary base point with laser tracker, result of a measurement is preserved with the precision of regulation; In practical set process, as run into when setting up alignment measurement system of axes, because block, dead angle, range limited reason and the laser tracker caused cannot measure bench mark, laser tracker is at least met 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 after turning station;
After step 1.9. establishment of coordinate system gets up, use mounting tool steady arm in laser tracker; When tool positioner assembles, measure OTP point with laser tracker, while 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 perform the alignment measurement work to aircraft components; In alignment measurement process, not only need for control system provides take off data, also will monitor whole fitting process simultaneously and management is preserved to take off data; Whole fitting process needs many laser trackers to carry out real-time parallel cooperative, should ensure the high precision of data, meet requirement of real time again; Alignment measurement specific implementation process is as follows:
Step 2.1. assembly parts enter position, and after frock position is adjusted, what utilize hanging device to complete assembly parts enters position;
Step 2.2. imports assembling digital-to-analogue, as assembly parts digital-to-analogue, frock digital-to-analogue, laser tracker model, assembly parts numeral mark work;
Before step 2.3. alignment measurement starts, preheating is carried out to each laser tracker, IP is arranged, networking building work, establish a communications link, initialization, and detecting and tracking instrument mode of operation;
Step 2.4. control system hardware components is in place, and each software system complete initialization, and operating personal sends execution assembly order through the main interface of assembly system, after alignment measurement system acceptance to execution assembly order, starts the dynamic measurement work starting multiple stage tracker;
When step 2.5. assembling starts, 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 performing assembling action; Control system calculates the step-length of control mechanism according to the deviometer of position, performs assembling action afterwards;
Step 2.6. is performing in the process of assembling action at actuating unit, laser tracker is according to certain frequency collection measurement point data, the data of each collection all do first difference computing with the data point gathered last time, if difference is in very little scope, and continue for the long period, namely assert actuating unit assembling release; Otherwise continue to gather 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 build-up tolerance requirement, then assembled, and terminates alignment measurement work; If difference is comparatively large, then return step 2.5; In fitting process, as occurred, assembling is unexpected, and operating personal sends stopping assembly order by the main interface of assembly system;
After step 2.8. fitting work completes, operating personal sends recovery assembly order by the main interface of assembly system, makes software system and performs hardware recovery for assembling initial condition, wait for next fittage;
Step 3: real-time parallel cooperative:
Dynamical assemble real-time simulation needs in fitting process, and measure assembly parts location information by multiple stage laser tracker and analyze confined state, whole fitting process is without the need to manual intervention; In order to meet take off data real-time synchronization, each laser tracker concurrent collaborative is measured, take off data manages requirement easily, proposes the real-time parallel cooperated measuring method based on multithreading; The method other measuring equipments to non-laser tracker are suitable for too, are applicable to the hybrid parallel cooperative of polymorphic type measuring equipment; 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 set 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 passes through wireless connections; Laser tracker group is set and client computer is in the same network segment;
Step 3.2. multi-threaded parallel is measured
When separate unit laser tracker is measured, do not relate to systematic survey problem; Adopt in single process, set up the mode measured and connect successively, can increase time overhead, data management is also inconvenient; If adopt the mode of multithreading, give several measurement thread the control of each laser tracker, measure thread and be only responsible for measuring and biography value, by the management of operating system, well can ensure that the concurrent collaborative of take off data obtains;
Multi-threading correspondence connection mode, according to laser tracker number of devices, client dynamic assignment thread, each thread is responsible for the surveying work of independent laser tracker, client main thread is responsible for controlling each laser tracker thread, be responsible for the communication with control system, laser tracker measurement pattern is set to dynamic measurement pattern simultaneously; Concrete implementation is as follows:
After step 3.2.1. alignment measurement starts, process dynamic assignment respectively measures thread, and each thread sets up the communication connection of a set of laser tracker, and to arrange measurement pattern be dynamic measurement pattern;
Step 3.2.2. arranges and measures thread is alignment measurement state, and in this case, each thread of measuring sends measuring command to laser tracker server immediately;
After step 3.2.3. laser tracker server receives measuring command, return measurement value;
Step 3.2.4. is under alignment measurement state, and measuring thread need take multiple measurements, and obtain the average of measurement point position, this numerical value is called alignment measurement data;
Step 3.2.5. measure thread average is sent to main thread, and arrange measure thread be control measurement state;
After step 3.2.6. main thread obtains the take off data of multiple spot, take off data matrix conversion under alignment measurement system of axes, packing sends to control system;
Step 3.2.7. control system makes feedback according to take off data, and performs assembling action;
Step 3.2.8. measures thread during control system performs assembling action, is in control measurement state always; In this case, alignment measurement system main thread sends a control measurement order every certain cycle to each measurement thread, and measure thread and obtain current location data information immediately, directly return this numerical value, this numerical value is called simulated measurement data;
After step 3.2.9. main thread gets simulated measurement data, data retransmission to real-time emulation system and assembling history engineering system;
Step 3.2.10. assembling as need be again obtained rigging position data, returns step 2 after performing an action and terminating;
Step 3.2.11., in fitting process, to break light situation, if current thread state is alignment measurement state as run into laser tracker, then stop assembling, and eject disconnected light warning, after personnel to be operated investigate disconnected light reason, select to continue assembly order and complete follow-up assembling; If current state is control measurement state, then 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 each measurement thread, take out the real-time parallel take off data in fitting process, preserve with document form.
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