CN108151660B - A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system - Google Patents

A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system Download PDF

Info

Publication number
CN108151660B
CN108151660B CN201711477801.7A CN201711477801A CN108151660B CN 108151660 B CN108151660 B CN 108151660B CN 201711477801 A CN201711477801 A CN 201711477801A CN 108151660 B CN108151660 B CN 108151660B
Authority
CN
China
Prior art keywords
measurement
aircraft components
scale
docking region
coordinate
Prior art date
Application number
CN201711477801.7A
Other languages
Chinese (zh)
Other versions
CN108151660A (en
Inventor
骆彬
徐冠华
张开富
程晖
周凡
Original Assignee
西北工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 西北工业大学 filed Critical 西北工业大学
Priority to CN201711477801.7A priority Critical patent/CN108151660B/en
Publication of CN108151660A publication Critical patent/CN108151660A/en
Application granted granted Critical
Publication of CN108151660B publication Critical patent/CN108151660B/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/02Measuring arrangements characterised by the use of optical means for measuring length, width or thickness
    • G01B11/03Measuring arrangements characterised by the use of optical means for measuring length, width or thickness by measuring coordinates of points

Abstract

The invention discloses measurement equipment, the method and systems of a kind of aircraft components butt-joint clearance and scale.The measurement equipment includes positioning device, measuring device and host computer;The positioning device includes positioning tool;The measuring device includes loop orbit, measuring head, measurement head driving apparatus and loop orbit driving device.By the way that the loop orbit and the measuring head are arranged on the positioning tool, allow the measurement head driving apparatus that the measuring head is driven to move along the loop orbit, the loop orbit driving device can drive the loop orbit to carry out translational motion on the positioning tool.Therefore, it can realize that tested aircraft components entirely dock the measurement of region outline data by the movement of measuring head and loop orbit, the defect measured just for local feature region, the not comprehensive caused measurement accuracy of measurement data is low is effectively avoided, to realize the high-acruracy survey of tested aircraft components butt-joint clearance and scale.

Description

A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system

Technical field

The present invention relates to aircraft Intelligent assembly technical fields, more particularly to a kind of aircraft components butt-joint clearance and scale Measurement equipment, method and system.

Background technique

Aircraft configuration face is spliced by numerous components, and it is pneumatically continuous that the geometric accuracy of stitching portion directly affects aircraft Property and electromagnetism continuity, be influence air maneuver, stealth and service life important indicator.Currently, aircraft assembly is by craft Assembly is changed into numerical control automatic assembling, and strides forward towards intelligence assembly.For aircraft components assembling process, region gap is docked Automatic measurement with scale value is that the basis of numerical control equipment posture adjustment and deburring and aircraft assemble the key changed to intelligence.

Traditional baby plane component assembling, docking region difference measurement using manually measuring, exist measurement it is cumbersome, Adjustment process repeatedly, low efficiency, low precision the problems such as, be unable to satisfy the growth requirement of modern large aircraft assembly.It is digitizing Boeing uses laser tracker or lidar measurement Large Aircraft Components spatial attitude in assembly, then to Large Aircraft Components Pose adjustment is carried out, realizes the work of Large Aircraft Components Butt Assembling;The large aircraft docking measurement of domestic-developed is most of to be used The coordinate of laser tracker measuring part anchor point maps with theoretical value and adjusts posture, completes docking.However, the above method When being measured to large aircraft component butt-joint clearance and scale, exists and measured just for local feature region, measure number According to incomplete defect, therefore it is unable to reach permissible accuracy in large aircraft component docking operation.

Summary of the invention

The object of the present invention is to provide a kind of aircraft components butt-joint clearance and the measurement equipments of scale, method and system, lead to It crosses and measures the point cloud data that tested aircraft components entirely dock region contour, realize tested aircraft components butt-joint clearance and scale High-acruracy survey.

To achieve the above object, the present invention provides following schemes:

A kind of measurement equipment of aircraft components butt-joint clearance and scale, the measurement equipment include positioning device, measurement dress It sets and host computer;The positioning device includes positioning tool;The measuring device includes loop orbit, measuring head, measuring head driving Device and loop orbit driving device;

Tested aircraft components are mounted in the positioning device;

The loop orbit is mounted on the positioning tool, and the measuring head is mounted on the loop orbit;The ring rail Road is for guaranteeing there is default spacing between the measuring head and the tested aircraft components;

The measurement head driving apparatus is mounted on the loop orbit, and the measurement head driving apparatus and the measuring head connect It connects, for driving the measuring head to move along the loop orbit;

The loop orbit driving device is mounted on the positioning tool, the loop orbit driving device and the loop orbit Connection, for driving the loop orbit to carry out translational motion on the positioning tool;

The measuring head is connect with the host computer;The measuring head is used to measure the docking area of the tested aircraft components The outline data in domain;The host computer is used to calculate pair of the tested aircraft components according to the outline data in the docking region Connect the butt-joint clearance and scale in region.

Optionally, the measuring head is line structured light vision sensor.

Optionally, the measuring device further includes calibrating block and laser tracker;

The calibrating block is mounted on the positioning tool bottom;The laser tracker is mounted on the loop orbit top Portion;The calibrating block and the laser tracker are used to determine the position of the loop orbit and the measuring head.

Optionally, the calibrating block is trapezoidal block structure;The quantity of the calibrating block is multiple;Multiple described calibrating blocks etc. Interval is mounted on the positioning tool bottom.

Optionally, the positioning device further includes posture adjustment tooling;The posture adjustment tooling is located at the positioning tool side;Institute It states posture adjustment tooling bottom and idler wheel is installed;The posture adjustment tooling is used for according to the butt-joint clearance and scale to the tested aircraft Component carries out docking posture adjustment and deburring.

The invention also discloses the measurement method of a kind of aircraft components butt-joint clearance and scale, the measurement method is applied to The measurement of the aircraft components butt-joint clearance and scale is equipped, and the measurement method includes:

Obtain the outline data in the docking region of tested aircraft components;

The measurement model in the docking region is generated according to the outline data in the docking region;

Obtain the theoretical model in the docking region;

The tested aircraft portion is obtained according to the theoretical model of the measurement model in the docking region and the docking region The butt-joint clearance and scale in the docking region of part.

Optionally, the outline data in the docking region for obtaining tested aircraft components, specifically includes:

Obtain the outline data in the docking region of tested aircraft components;The profile in the docking region of the tested aircraft components Data are multiple point cloud datas that the measuring head measurement obtains;Each point cloud data is a measurement point in measurement coordinate Coordinate value under system.

Optionally, the measurement model that the outline data according to the docking region generates the docking region specifically wraps It includes:

Coordinate value of each measurement point under the measurement coordinate system is converted into the coordinate value under workpiece coordinate system, is obtained Point cloud data under multiple workpiece coordinate systems;

Point cloud data under the multiple workpiece coordinate system is fitted using least square method, generates the survey in the docking region Measure model.

Optionally, described in the theoretical model according to the measurement model in the docking region and the docking region obtains The butt-joint clearance and scale in the docking region of tested aircraft components, specifically include:

By the theoretical model discretization in the docking region, number identical as the point cloud data under the workpiece coordinate system is generated The discrete point cloud data of magnitude;Each discrete point cloud data is the coordinate value of a discrete point;

By corresponding position in multiple measurement points in the docking region of the tested aircraft components and the theoretical model Multiple discrete points matched, obtain measurement point and discrete point matching double points;

Obtain coordinate value of the measurement point under the workpiece coordinate system in the matching double points;

Obtain the coordinate value of the discrete point in the matching double points;

Calculate the coordinate value length direction of coordinate value of the measurement point under the workpiece coordinate system Yu the discrete point Deviation, obtain the tested aircraft components docking region butt-joint clearance;

Calculate the coordinate value short transverse of coordinate value of the measurement point under the workpiece coordinate system Yu the discrete point Deviation, obtain the tested aircraft components docking region scale.

The invention also discloses the measuring system of a kind of aircraft components butt-joint clearance and scale, the measuring system includes:

Outline data obtains module, the outline data in the docking region for obtaining tested aircraft components;

Measurement model generation module, for generating the measurement in the docking region according to the outline data in the docking region Model;

Theoretical model obtains module, for obtaining the theoretical model in the docking region;

Butt-joint clearance and scale obtain module, for according to the measurement model in the docking region and the docking region Theoretical model obtains the butt-joint clearance and scale in the docking region of the tested aircraft components.

The specific embodiment provided according to the present invention, the invention discloses following technical effects:

The present invention provides measurement equipment, the method and system of a kind of aircraft components butt-joint clearance and scale.The measurement dress Standby includes positioning device, measuring device and host computer;The positioning device includes positioning tool;The measuring device includes ring rail Road, measuring head, measurement head driving apparatus and loop orbit driving device.By be arranged on the positioning tool loop orbit and The measuring head allows the measurement head driving apparatus that the measuring head is driven to move along the loop orbit, the ring rail Road driving device can drive the loop orbit to carry out translational motion on the positioning tool.Therefore, measuring head can be passed through Movement with loop orbit realizes that tested aircraft components entirely dock the measurement of region outline data, effectively avoids just for local spy The low defect of measurement accuracy caused by sign point measures, measurement data is not comprehensive, thus between realizing tested aircraft components docking The high-acruracy survey of gap and scale, can dock posture adjustment for aircraft components and deburring provides accurate data and supports, realize large-scale The lean and correct assembly of aircraft components.

In addition, the measuring head that the present invention uses is line structured light vision sensor, line structured light vision sensor is A kind of contactless, stable and ultrahigh speed measurement sensor, the present invention are used for carrying out the docking measurement of large aircraft component, Quality, the efficiency that aircraft components butt-joint clearance and scale measurement and aircraft components assembly can be improved, reduce cost.Meanwhile The present invention also marks the position of the measuring head and the loop orbit using the calibrating block and the laser tracker It is fixed, further improve the precision of tested aircraft components butt-joint clearance and scale measurement.

Detailed description of the invention

It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings Obtain other attached drawings.

Fig. 1 is a kind of structural schematic diagram of the measurement equipment of aircraft components butt-joint clearance and scale provided by the invention;

Fig. 2 is a kind of method flow diagram of the measurement method of aircraft components butt-joint clearance and scale provided by the invention;

Fig. 3 is the schematic diagram of measurement coordinate system and tooling coordinate system provided in an embodiment of the present invention;

Fig. 4 is the schematic diagram of laser tracker coordinate system provided in an embodiment of the present invention;

Fig. 5 is a kind of structural schematic diagram of the measuring system of aircraft components butt-joint clearance and scale provided by the invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

The object of the present invention is to provide a kind of aircraft components butt-joint clearance and the measurement equipments of scale, method and system, lead to It crosses and measures the point cloud data that tested aircraft components entirely dock region contour, realize tested aircraft components butt-joint clearance and scale High-acruracy survey.

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.

Fig. 1 is a kind of structural schematic diagram of the measurement equipment of aircraft components butt-joint clearance and scale provided by the invention.Ginseng See Fig. 1, the measurement equipment of a kind of aircraft components butt-joint clearance and scale provided by the invention include positioning device, measuring device and Host computer.The positioning device includes positioning tool 101.The measuring device includes loop orbit 102, measuring head 103, measuring head Driving device 104 and loop orbit driving device 105.

Tested aircraft components 106 are mounted in the positioning device.

The loop orbit 102 is mounted on the positioning tool 101, and the measuring head 103 is mounted on the loop orbit 102 On.The loop orbit 102 is for guaranteeing there is default spacing between the measuring head 103 and the tested aircraft components 106.

The measurement head driving apparatus 104 is mounted on the loop orbit 102, the measurement head driving apparatus 104 and institute The connection of measuring head 103 is stated, for driving the measuring head 103 to move along the loop orbit 102.

The loop orbit driving device 105 is mounted on the positioning tool 101, the loop orbit driving device 105 with The loop orbit 102 connects, for driving the loop orbit 102 to carry out translational motion on the positioning tool 101.

The measuring head 103 is connect with the host computer 107.The measuring head 103 is for measuring the tested aircraft portion The outline data in the docking region of part 106.The host computer 107 is used for according to the outline data calculating in the docking region The butt-joint clearance and scale in the docking region of tested aircraft components 106.

The host computer 107 also connects with the measurement head driving apparatus 104 and the loop orbit driving device 105 respectively It connects, for controlling the operation of the measurement head driving apparatus 104 and the loop orbit driving device 105.

After the tested aircraft components 106 of large size dock, the measurement head driving apparatus 104 drive the measuring head 103 along The loop orbit 102 is made equidistantly to be spaced movement, and move distance is controlled roughly by driving motor internal encoder, and movement is in place The position that laser tracker 109 records measuring head 103, while the data in host computer 107 are touched by code device signal afterwards Acquisition unit record docking region outline data.Because large aircraft component docking region area is big, so needing Multiple-Scan, i.e., After the completion of the single pass that loop orbit carries out, the loop orbit driving device 105 drive loop orbit 102 it is mobile equidistantly away from From then the measurement head driving apparatus 104 drives the scanning of the progress of measuring head 103 next time.Until being tested aircraft components 106 Docking region all scanning complete.

The primary measured data of measuring head 103 are not the data of entire profile, need to carry out measured data clear It washes, and uses principle of stacking, measured data are spliced, obtain the data of entire measurement profile.

Wherein, the measuring head 103 is line structured light vision sensor.Line structured light vision sensor is a kind of non-contact Formula, stabilization and ultrahigh speed measurement sensor, the present invention are used for carrying out the docking measurement of large aircraft component, can be improved winged Machine component butt-joint clearance and scale measurement precision and efficiency, thus improve aircraft components assembly quality and efficiency, reduce at This.

The measuring device further includes calibrating block 108 and laser tracker 109.The laser tracker 109 is sharp Optical tracker system.The calibrating block 108 is mounted on the bottom of the positioning tool 101.The calibrating block 108 is trapezoidal block structure, First 103 calibration can be measured by 3 points of measurements, in 3 points of calibrating blocks 103 for trapezoidal block structure in Fig. 11, 2,3 three points.The position of measuring head 103 and the precision of measurement data are related.The quantity of the calibrating block 108 is multiple.Calibrating block 108 number is determined according to the measurement range of measuring head 103 and the size of docking region area, generally much more accurate.Calibration Keep equidistant between block 108, multiple calibrating blocks 108 are mounted on the bottom of the positioning tool 101 at equal intervals.

Calibrating block 108 is for determining measuring head 103 and tooling (positioning tool and posture adjustment tooling are referred to as tooling in the present invention) Corresponding relationship, and instruct loop orbit driving device 105 drive loop orbit 102 moving distance.The loop orbit driving dress Set the mobile distance of 105 driving loop orbits 102, it is necessary to which, in surveying in range for measuring head 103, the data measured twice may occur in which Partly overlap phenomenon.Because the relative distance between two calibrating blocks 108 determines, so the moving distance of loop orbit 102 can pass through Interpolation method determines.According to the size of docking region area, the number of calibrating block 108 is set, such as calibrating block A, calibrating block B, calibration Block C etc., and it is scanned with laser tracker 109, it determines and is equidistantly installed between its calibrating block 108.The laser Tracking device 109 is mounted on the top of the loop orbit 102.The calibrating block 108 and the laser tracker 109 are for marking The position of the fixed loop orbit 102 and the measuring head 103 carries out the loop orbit 102 and the measuring head 103 etc. Interval movement.

By the calibrating block 108 and the laser tracker 109 to the measuring head 103 and the loop orbit 102 Position demarcated, can be further improved tested aircraft components entirely dock region outline data measurement accuracy, from And further increase the precision of tested aircraft components butt-joint clearance and scale measurement.

The docking of large aircraft component generally requires two toolings (positioning tool and posture adjustment tooling) and is operated, therefore described Positioning device includes the positioning tool and posture adjustment tooling.The positioning tool plays fixed function, for installing measuring device.Institute It states posture adjustment tooling and plays docking, move.That is, the positioning device further includes posture adjustment tooling 110.The posture adjustment tooling 110 Positioned at the side of the positioning tool 101.The bottom of the posture adjustment tooling 110 is equipped with idler wheel 111, makes the posture adjustment tooling 110 can move.The posture adjustment tooling 110 be used for according to the butt-joint clearance and scale to the tested aircraft components 106 into Row docking posture adjustment and deburring.

As it can be seen that the measurement of a kind of aircraft components butt-joint clearance provided by the invention and scale is equipped, by the positioning The loop orbit 102 and the measuring head 103 are set in tooling 101, the measurement head driving apparatus 104 is allowed to drive institute It states measuring head 103 to move along the loop orbit 102, the loop orbit driving device 105 can drive the loop orbit 102 in institute It states and carries out translational motion on positioning tool 101.Therefore, tested fly can be realized by the movement of measuring head 103 and loop orbit 102 The measurement of the entire docking region outline data of machine component 106, effectively avoids measuring just for local feature region, measurement data The low defect of measurement accuracy caused by not comprehensive, thus realize the high-acruracy survey of tested aircraft components butt-joint clearance and scale, Posture adjustment can be docked for aircraft components and deburring provides accurate data and supports, realize the lean and correct assembly of large aircraft component.

The present invention also provides the measurement method of a kind of aircraft components butt-joint clearance and scale, the measurement method is applied to The measurement of the aircraft components butt-joint clearance and scale is equipped.Fig. 2 be a kind of aircraft components butt-joint clearance provided by the invention and The method flow diagram of the measurement method of scale.Referring to fig. 2, the measurement method includes:

Step 201: obtaining the outline data in the docking region of tested aircraft components.

The outline data in the docking region of the tested aircraft components is the multiple cloud numbers that the measuring head measurement obtains According to;Each point cloud data is coordinate value of the measurement point in the case where measuring coordinate system.

Step 202: the measurement model in the docking region is generated according to the outline data in the docking region.

The step 202 specifically includes:

Coordinate value of each measurement point under the measurement coordinate system is converted into the coordinate value under workpiece coordinate system, is obtained Point cloud data under multiple workpiece coordinate systems.

Realize the conversion between the measurement coordinate system and the workpiece coordinate system, first have to establish workpiece coordinate system, Corresponding relationship between tooling coordinate system, laser tracker coordinate system and measuring head coordinate system, specifically:

The first step establishes workpiece coordinate system X2Y2Z2With tooling coordinate system X1Y1Z1Between corresponding relationship.

The tooling coordinate system X1Y1Z1For on tested aircraft components butting tooling (including positioning tool and posture adjustment tooling) The coordinate system of setting, the workpiece coordinate system X2Y2Z2For the coordinate system being arranged on tested aircraft components.

The tooling coordinate system X is established on butting tooling1Y1Z1Datum mark O1(x1,y1,z1), and tracked and filled with laser Set 109 corrections datum mark O1(x1,y1,z1) position, it is ensured that position is accurate.The workpiece is established on tested aircraft components Coordinate system X2Y2Z2Datum mark O2(x2,y2,z2).The workpiece coordinate system X2Y2Z2Datum mark O2(x2,y2,z2) relative to institute State tooling coordinate system X1Y1Z1Datum mark O1(x1,y1,z1) coordinate shift amount be

Theoretical tooling (positioning device) and workpiece (tested aircraft components) holding are bonded, and do not consider the deformation of workpiece, then its The corresponding relationship of coordinate system are as follows:

Wherein, Δ x2Indicate the workpiece coordinate system X2Y2Z2Relative to the tooling coordinate system X1Y1Z1In the X direction Coordinate shift amount;Δy2Indicate the workpiece coordinate system X2Y2Z2Relative to the tooling coordinate system X1Y1Z1Seat in the Y direction Mark offset;Δz2Indicate the workpiece coordinate system X2Y2Z2Relative to the tooling coordinate system X1Y1Z1Coordinate in z-direction Offset.

The measuring device is fixed on the positioning tool 101 by second step, right with the laser tracker 109 The measuring head 103 is demarcated, and measurement coordinate system X is established3Y3Z3With tooling coordinate system X1Y1Z1Between corresponding relationship.Fig. 3 For the schematic diagram of measurement coordinate system and tooling coordinate system provided in an embodiment of the present invention.Select boolean's sand-Wolf model conduct Measure coordinate system X3Y3Z3With tooling coordinate system X1Y1Z1Between transformation model.

If X1Y1Z1For tooling coordinate system, datum mark O1(x1,y1,z1) it is the tooling coordinate system X1Y1Z1Origin; X3Y3Z3To measure coordinate system, datum mark O3(x3,y3,z3) it is the measurement coordinate system X3Y3Z3Origin;Measure coordinate system and work Coordinate origin is not overlapped dress, there are deflection angles.The measurement coordinate system X3Y3Z3Origin O3(x3,y3,z3) sat in tooling Mark system X1Y1Z1In coordinate value beMeasure coordinate system X3Y3Z3Relative to tooling coordinate system X1Y1Z1's Eulerian angles are [εXεYεZ], the zoom scale factor measured between coordinate system and tooling coordinate system is k, and totally seven parameters, are denoted as [Δx3Δy3Δz3εXεYεZk].If PJFor a public relating dot, PJCoordinate value in the case where measuring coordinate system isCoordinate value under tooling coordinate system isTurned according to boolean's sand-seven parameter of Wolf Mold changing type has:

Wherein,

Third step determines position B (x of the calibrating block 108 under tooling coordinate system with laser tracker 109B,yB,zB), Laser tracker can be calculated in the coordinate of coordinate and B point under tooling coordinate system under laser tracker coordinate system according to B point Coordinate.Fig. 4 is the schematic diagram of laser tracker coordinate system provided in an embodiment of the present invention.Referring to fig. 4, B point is tracked in laser Coordinate relationship under instrument coordinate system are as follows:

Wherein, d indicates that the distance between B point and laser tracker coordinate origin, α indicate that B point and laser tracker are sat The angle in the face mark system XOZ, β indicate projection and the angle in XOZ face of the B point on the face laser tracker coordinate system XOY.

If calibrating block A is fixed in tooling, its coordinate value under tooling coordinate system is determined by laser trackerCoordinate value of the calibrating block A under laser tracker coordinate system beIt can determine Corresponding relationship between tooling coordinate system and laser tracker coordinate system.Then determine measuring head in laser by laser tracker Coordinate value under tracker under coordinate system establishes the corresponding relationship between measuring head and tooling coordinate system.It is sharp so as to realize Optical tracker system, tooling, the coordinate transformation relationship between calibrating block.

4th step, according to workpiece coordinate system X2Y2Z2With tooling coordinate system X1Y1Z1Between corresponding relationship, measurement coordinate system X3Y3Z3With tooling coordinate system X1Y1Z1Between corresponding relationship, available measurement coordinate system X3Y3Z3With workpiece coordinate system X2Y2Z2 Between corresponding relationship:

Wherein,For public relating dot PJCoordinate value under workpiece coordinate system, For the origin O of the measurement coordinate system3(x3,y3,z3) coordinate value in tooling coordinate system;K is to survey Measure the zoom scale factor between coordinate system and tooling coordinate system;For PJCoordinate in the case where measuring coordinate system Value;For the datum mark O of the workpiece coordinate system2(x2,y2,z2) datum mark O relative to the tooling coordinate system1(x1,y1, z1) coordinate shift amount,

According to the measurement coordinate system X3Y3Z3With workpiece coordinate system X2Y2Z2Between corresponding relationship, can be by each measurement Coordinate value of the point under the measurement coordinate system is converted to the coordinate value under the workpiece coordinate system, obtains multiple workpiece coordinates Point cloud data under system.Each point cloud data is the coordinate value of a measurement point.I-th (i=1,2,3 ...) a described survey The coordinate value of amount point includes the coordinate value L of length direction (i.e. X-direction)iWith the coordinate value H of short transverse (i.e. Y direction)i。 Point cloud data under the multiple workpiece coordinate system is fitted using least square method, generates the measurement model in the docking region.

Step 203: obtaining the theoretical model in the docking region.

The theoretical model in the docking region is obtained, the theoretical model is the tested aircraft portion that aircraft design unit provides The CAD model in part docking region.Theoretical model by the way that the measurement model to be docked to region with tested aircraft components carries out pair Than analysis, measurement pointcloud data are matched with the point cloud data of the theoretical model of aircraft components, obtain the inclined of length direction Difference is gap width, and the deviation of short transverse is scale value, and it is practical can to solve large aircraft component docking region Gap and scale, and then the data of large aircraft component butt-joint clearance and scale can be seen by host computer.

Step 204: the quilt is obtained according to the theoretical model of the measurement model in the docking region and the docking region Survey the butt-joint clearance and scale in the docking region of aircraft components.

By the CAD theoretical model discretization in the docking region, generate and the point cloud data phase under the workpiece coordinate system With the discrete point cloud data of the order of magnitude;Each discrete point cloud data is the coordinate value of a discrete point.I-th (i=1,2, 3 ...) coordinate value of a discrete point includes the coordinate value l of length directioniWith the coordinate value h of short transversei.It is then based on song The point cloud data of measurement is carried out mapping to compare being registrated, obtains length side by face curvature rigid body translation invariance with CAD theoretical model To deviation be gap width, the deviation of short transverse is scale value.Specifically:

By corresponding position in multiple measurement points in the docking region of the tested aircraft components and the theoretical model Multiple discrete points matched, obtain measurement point and discrete point matching double points.I.e. i-th discrete point and i-th A measurement point is a pair of of matching double points.

Obtain coordinate value (L of the measurement point in the matching double points under the workpiece coordinate systemi,Hi);

Obtain the coordinate value (l of the discrete point in the matching double pointsi,hi);

Calculate the coordinate value length direction of coordinate value of the measurement point under the workpiece coordinate system Yu the discrete point Deviation, obtain the tested aircraft components docking region butt-joint clearance;The calculation formula of the butt-joint clearance are as follows:

Δli=Li-li (8)

Wherein, Δ liThe coordinate value of the coordinate value and i-th of discrete point that are ith measurement point under workpiece coordinate system is in length Spend the deviation in direction, i-th point of the butt-joint clearance in the docking region of the as described tested aircraft components;LiFor i-th of institute State the coordinate value of measurement point length direction;liFor the coordinate value of i-th of discrete point length direction.

Calculate the coordinate value short transverse of coordinate value of the measurement point under the workpiece coordinate system Yu the discrete point Deviation, obtain the tested aircraft components docking region scale.The calculation formula of the scale are as follows:

Δhi=Hi-hi (9)

Wherein, Δ hiThe coordinate value of the coordinate value and i-th of discrete point that are ith measurement point under workpiece coordinate system is in height Spend the deviation in direction, i-th point of the scale in the docking region of the as described tested aircraft components;HiFor i-th of survey Measure the coordinate value in point height direction;hiFor the coordinate value of i-th of discrete point short transverse.

So far, the butt-joint clearance and scale of all the points in the docking region of the tested aircraft components can be found out, thus The butt-joint clearance and scale data in the entire docking region of tested aircraft components 106, Jin Erke can be seen by host computer 107 To carry out docking posture adjustment and deburring to tested aircraft components 106, realize according to the butt-joint clearance and scale of the docking each point in region The lean and correct assembly of large aircraft component.

Aircraft components docking operation is approximately the transformation of rigid space pose, and the error at posture adjustment control point can pass through actual measurement It is worth to theoretical value mapping and acquires, it may be assumed that

E=(RD+T)-M (10)

Wherein, E is error matrix, and R is rotational transformation matrix, and D is the measured data that measuring head measures, and T is translation transformation Matrix, M are theoretical value.Value in matrix E, R, D, T, M is the value under tooling coordinate system.

Wherein,

In formulaThe error in a posture adjustment control point x, y, z direction (n=1,2 ...) that respectively indicates n-th, n are Posture adjustment control point number.

In formula, εx、εx、εxEulerian angles are converted for component pose.

In formulaRespectively indicate the coordinate value of the x, y, z axis of the measured data at n-th of posture adjustment control point.

T=[Tx Ty Tz]T (14)

Tx、Ty、TzRespectively indicate the translation transformation matrix on three directions of x, y, z.

In formulaRespectively indicate the coordinate value of the x, y, z axis of the theoretical value at n-th of posture adjustment control point.

Because required precision is symmetrical, as ± S on each coordinate value direction, then required precision matrix are as follows:

In formulaRespectively indicate the precision on the x, y, z direction of n-th of posture adjustment control point.

Using least square objective function:

Construct restricted model:

Wherein, f indicates that residual sum function, X indicate the spin matrix and translation matrix that meet posture adjustment control point tolerance, n table Show posture adjustment control point number,The weight in i-th of posture adjustment control point x, y, z direction is respectively indicated, Indicate the error in i-th of posture adjustment control point x, y, z direction.cix、ciy、cizRespectively indicate the constraint function in x, y, z direction.

After acquiring X, i.e. acquisition spin matrix R and translation matrix T, to be adjusted according to spin matrix R and translation matrix T The best fit location matrix F at appearance control point:

F=RD+T (20)

Position in best fit location matrix F is the posture adjustment control point position under component docking object pose, the position Set the required precision for meeting posture adjustment control point.Therefore it is capable of providing posture adjustment and the trim position of the docking of large aircraft component, thus Realize the lean and correct assembly of large aircraft component.

As it can be seen that being flown using a kind of measurement method of aircraft components butt-joint clearance and scale provided by the invention by tested Machine component entirely docks the measurement data of region contour, calculates pair of all the points in the docking region of the tested aircraft components Gap and scale are connect, so as to pass through the butt-joint clearance that host computer 107 sees the entire docking region of tested aircraft components 106 With scale data, effectively avoid measuring just for local feature region, measurement data comprehensively caused by measurement accuracy it is low Defect, and then docking posture adjustment can be carried out to tested aircraft components 106 according to the butt-joint clearance and scale of the docking each point in region And deburring, realize the lean and correct assembly of large aircraft component.

The present invention also provides the measuring systems of a kind of aircraft components butt-joint clearance and scale.Fig. 5 is provided by the invention A kind of structural schematic diagram of the measuring system of aircraft components butt-joint clearance and scale.Referring to Fig. 5, the measuring system includes:

Outline data obtains mould 501, the outline data in the docking region for obtaining tested aircraft components;It is described tested winged The outline data in the docking region of machine component is multiple point cloud datas that the measuring head measurement obtains;Each point cloud data For coordinate value of the measurement point in the case where measuring coordinate system.

Measurement model generation module 502, for generating the docking region according to the outline data in the docking region Measurement model;

Theoretical model obtains module 503, for obtaining the theoretical model in the docking region;

Butt-joint clearance and scale obtain module 504, for according to the measurement model for docking region and the docking area The theoretical model in domain obtains the butt-joint clearance and scale in the docking region of the tested aircraft components.

Wherein, the measurement model generation module 502 specifically includes:

Point cloud data acquiring unit, for coordinate value of each measurement point under the measurement coordinate system to be converted to workpiece Coordinate value under coordinate system obtains the point cloud data under multiple workpiece coordinate systems;

Measurement model generation unit, for being fitted the point cloud number under the multiple workpiece coordinate system using least square method According to the measurement model in the generation docking region.

The butt-joint clearance and scale obtain module 504 and specifically include:

Discrete point cloud data generation unit, for generating the theoretical model discretization in the docking region and the work The discrete point cloud data of point cloud data same order under part coordinate system;Each discrete point cloud data is a discrete point Coordinate value;

Matching double points acquiring unit, for by the tested aircraft components docking region multiple measurement points and institute The multiple discrete points for stating corresponding position in theoretical model are matched, and the matching double points of measurement point and discrete point are obtained;

Measurement point coordinate acquiring unit, for obtaining the measurement point in the matching double points in the workpiece coordinate system Under coordinate value;

Discrete point coordinate acquiring unit, for obtaining the coordinate value of the discrete point in the matching double points;

Butt-joint clearance computing unit, for calculate coordinate value of the measurement point under the workpiece coordinate system and it is described from The deviation of the coordinate value length direction of scatterplot obtains the butt-joint clearance in the docking region of the tested aircraft components;

Scale computing unit, for calculating coordinate value of the measurement point under the workpiece coordinate system and the discrete point Coordinate value short transverse deviation, obtain the tested aircraft components docking region scale.

It, can be by being tested aircraft using a kind of measuring system of aircraft components butt-joint clearance and scale provided by the invention Component entirely docks the measurement data of region contour, calculates the docking of all the points in the docking region of the tested aircraft components Gap and scale, effectively avoid measuring just for local feature region, measurement data comprehensively caused by measurement accuracy it is low Defect, and then docking posture adjustment can be carried out to tested aircraft components 106 according to the butt-joint clearance and scale of the docking each point in region And deburring, realize the lean and correct assembly of large aircraft component.

In conclusion a kind of aircraft components butt-joint clearance provided by the invention and the measurement equipment of scale, method and system, It has at least the following advantages:

1, a kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system provided by the invention, use The precision of device and sensor in the range of precision index requires, can eliminate measurement deviation early period, improve measurement data The high-acruracy survey that region gap and scale are docked in large scale space is realized in accuracy.

2, a kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system provided by the invention, to annular The mobile accuracy and rigidity requirement of guide rail are low, can be suitable for the docking area domain measurement of the aircraft components of different type of machines, have good Good versatility, can reduce whole measurement cost.

3, a kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system provided by the invention, measurement Head uses line laser sensor, greatly improves the measurement accuracy and efficiency of aircraft components butt-joint clearance and scale;Sensor is adopted The docking region outline data of collection is handled, for component docking pose adjustment and docking region deburring, with traditional phase method It compares, measurement efficiency is high, and as a result availability is good;According to the gap of the entire docking region contour obtained after processing and scale value, It can determine the position F of the docking posture adjustment of large aircraft component or deburring, so as to realize the lean and correct assembly of aircraft components.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part It is bright.

Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said It is bright to be merely used to help understand method and its core concept of the invention;At the same time, for those skilled in the art, foundation Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not It is interpreted as limitation of the present invention.

Claims (8)

1. the measurement of a kind of aircraft components butt-joint clearance and scale is equipped, which is characterized in that the measurement equipment includes positioning dress It sets, measuring device and host computer;The positioning device includes positioning tool;The measuring device includes loop orbit, measuring head, survey Measure head driving apparatus and loop orbit driving device;
Tested aircraft components are mounted in the positioning device;
The loop orbit is mounted on the positioning tool, and the measuring head is mounted on the loop orbit;The loop orbit is used Spacing is preset in guaranteeing to exist between the measuring head and the tested aircraft components;
The measurement head driving apparatus is mounted on the loop orbit, and the measurement head driving apparatus is connect with the measuring head, For driving the measuring head to move along the loop orbit;
The loop orbit driving device is mounted on the positioning tool, and the loop orbit driving device and the loop orbit connect It connects, for driving the loop orbit to carry out translational motion on the positioning tool;
The measuring head is connect with the host computer;The measuring head is used to measure the docking region of the tested aircraft components Outline data;The host computer is used to calculate the docking area of the tested aircraft components according to the outline data in the docking region The butt-joint clearance and scale in domain;
The measuring device further includes calibrating block and laser tracker;
The calibrating block is mounted on the positioning tool bottom;The laser tracker is mounted at the top of the loop orbit;Institute It states calibrating block and the laser tracker is used to demarcate the position of the loop orbit and the measuring head;
The calibrating block is trapezoidal block structure, and the calibration for measuring head is measured by 3 points;The quantity of the calibrating block is more It is a;Multiple calibrating blocks are mounted on the positioning tool bottom at equal intervals.
2. the measurement of aircraft components butt-joint clearance according to claim 1 and scale is equipped, which is characterized in that the measurement Head is line structured light vision sensor.
3. the measurement of aircraft components butt-joint clearance according to claim 2 and scale is equipped, which is characterized in that the positioning Device further includes posture adjustment tooling;The posture adjustment tooling is located at the positioning tool side;Posture adjustment tooling bottom is equipped with rolling Wheel;The posture adjustment tooling is used to carry out docking posture adjustment to the tested aircraft components according to the butt-joint clearance and scale and repair Side.
4. a kind of measurement method of aircraft components butt-joint clearance and scale, which is characterized in that the measurement method is applied to right It is required that the measurement of aircraft components butt-joint clearance and scale described in 1-3 any one is equipped;The measurement method includes:
Obtain the outline data in the docking region of tested aircraft components;
The measurement model in the docking region is generated according to the outline data in the docking region;
Obtain the theoretical model in the docking region;
The tested aircraft components are obtained according to the theoretical model of the measurement model in the docking region and the docking region Dock the butt-joint clearance and scale in region.
5. the measurement method of aircraft components butt-joint clearance and scale according to claim 4, which is characterized in that the acquisition The outline data in the docking region of tested aircraft components, specifically includes:
Obtain the outline data in the docking region of tested aircraft components;The outline data in the docking region of the tested aircraft components The multiple point cloud datas obtained for the measuring head measurement;Each point cloud data is a measurement point in the case where measuring coordinate system Coordinate value.
6. the measurement method of aircraft components butt-joint clearance and scale according to claim 5, which is characterized in that the basis The measurement model that the outline data in the docking region generates the docking region specifically includes:
Coordinate value of each measurement point under the measurement coordinate system is converted into the coordinate value under workpiece coordinate system, is obtained multiple Point cloud data under workpiece coordinate system;
Point cloud data under the multiple workpiece coordinate system is fitted using least square method, generates the measurement mould in the docking region Type.
7. the measurement method of aircraft components butt-joint clearance and scale according to claim 6, which is characterized in that the basis The measurement model in the docking region and the theoretical model in the docking region obtain the docking region of the tested aircraft components Butt-joint clearance and scale, specifically include:
By the theoretical model discretization in the docking region, generate and the point cloud data same order under the workpiece coordinate system Discrete point cloud data;Each discrete point cloud data is the coordinate value of a discrete point;
By the more of multiple measurement points in the docking region of the tested aircraft components and corresponding position in the theoretical model A discrete point is matched, and the matching double points of measurement point and discrete point are obtained;
Obtain coordinate value of the measurement point under the workpiece coordinate system in the matching double points;
Obtain the coordinate value of the discrete point in the matching double points;
Calculate the inclined of coordinate value of the measurement point under the workpiece coordinate system and the coordinate value length direction of the discrete point Difference obtains the butt-joint clearance in the docking region of the tested aircraft components;
Calculate the inclined of coordinate value of the measurement point under the workpiece coordinate system and the coordinate value short transverse of the discrete point Difference obtains the scale in the docking region of the tested aircraft components.
8. a kind of measuring system of aircraft components butt-joint clearance and scale, which is characterized in that the measuring system is applied to right It is required that the measurement of aircraft components butt-joint clearance and scale described in 1-3 any one is equipped;The measuring system includes:
Outline data obtains module, the outline data in the docking region for obtaining tested aircraft components;
Measurement model generation module, for generating the measurement mould in the docking region according to the outline data in the docking region Type;
Theoretical model obtains module, for obtaining the theoretical model in the docking region;
Butt-joint clearance and scale obtain module, for according to the measurement model in the docking region and the theory in the docking region Model obtains the butt-joint clearance and scale in the docking region of the tested aircraft components.
CN201711477801.7A 2017-12-29 2017-12-29 A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system CN108151660B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711477801.7A CN108151660B (en) 2017-12-29 2017-12-29 A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711477801.7A CN108151660B (en) 2017-12-29 2017-12-29 A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system

Publications (2)

Publication Number Publication Date
CN108151660A CN108151660A (en) 2018-06-12
CN108151660B true CN108151660B (en) 2019-07-30

Family

ID=62460166

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711477801.7A CN108151660B (en) 2017-12-29 2017-12-29 A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system

Country Status (1)

Country Link
CN (1) CN108151660B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108801164B (en) * 2018-06-14 2020-03-24 电子科技大学 Method and system for testing gap value of workpiece based on laser
CN109596085B (en) * 2018-11-07 2020-09-22 中国航空工业集团公司西安飞机设计研究所 Method for estimating position error of cabin door
CN109751965B (en) * 2019-01-04 2020-08-14 北京航天控制仪器研究所 Precise spherical coupling part matching and gap measuring method based on three-dimensional point cloud
CN110298853A (en) * 2019-07-04 2019-10-01 易思维(杭州)科技有限公司 Face difference visible detection method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10319926B4 (en) * 2003-05-02 2006-09-28 Airbus Deutschland Gmbh Method for compensating a joint gap
CN101694374B (en) * 2009-10-20 2012-07-04 西安交通大学 Rapid detecting device and detecting method of precision of blades of gas turbine
CN102519441B (en) * 2011-12-06 2013-12-18 南京航空航天大学 Method for measuring positioning points based on laser tracker in docking process of airplane parts
CN103447792B (en) * 2013-08-08 2016-02-10 上海飞机制造有限公司 Large complicated shape is faced the wall and meditated plate Flexible Measurement & Control fixture system and investigating method
CN104006756A (en) * 2014-06-12 2014-08-27 沈阳飞机工业(集团)有限公司 Method for rapidly measuring deformation of assembled aircraft web part
CN105033419A (en) * 2015-08-14 2015-11-11 北京石油化工学院 Moving type welding robot device based on weld pool image welding line tracking
CN106568379B (en) * 2015-10-10 2019-02-15 陕西飞机工业(集团)有限公司 A method of based on sterically defined survey aircraft component interface shape
CN105773156B (en) * 2016-03-18 2017-08-29 南京信息职业技术学院 A kind of annular numerical control automatic punching system for airframe Butt Assembling
CN107238352B (en) * 2017-06-01 2019-07-09 南京航空航天大学 A kind of revolution class formation characteristic part profile laser on-machine measurement apparatus and method based on numerically controlled lathe

Also Published As

Publication number Publication date
CN108151660A (en) 2018-06-12

Similar Documents

Publication Publication Date Title
US10328411B2 (en) Apparatuses and methods for accurate structure marking and marking-assisted structure locating
CN106163771B (en) Method and system for robot 3D printing
US20180326591A1 (en) Automatic detection and robot-assisted machining of surface defects
US9197810B2 (en) Systems and methods for tracking location of movable target object
EP2788714B1 (en) Coordinate measuring machine having a camera
JP2015212012A (en) Method of controlling robot tool
US8798794B2 (en) Method and system for highly precisely positioning at least one object in an end position in space
US10239641B2 (en) Automated scanning systems for non-destructive inspection of curved cylinder-like workpieces
JP5632036B2 (en) Device for correcting errors in CNC machine tools
US8180101B2 (en) Calibration method for structure parameters of structured-light vision sensor
JP4275632B2 (en) Calibration method for parallel mechanism mechanism, calibration verification method, calibration verification program, data collection method, and correction data collection method for spatial position correction
CN102216860B (en) A method and an apparatus for calibration of an industrial robot system
CN104759945B (en) Mobile hole-making robot standard alignment method based on high precision industrial camera
EP1593930B1 (en) Apparatus and method for measuring objects
CN101861510B (en) Method of aligning arm reference systems of multiple- arm measuring machine
CN104786226A (en) Posture and moving track positioning system and method of robot grabbing online workpiece
CN101405564B (en) Apparatus and method of measuring workpieces
CN105910535B (en) A kind of single binocular pose bias measurement method for bay section automatic butt
CN103274055B (en) Indoor-GPS-based (indoor global positioning system-based) stress-free assembly system for large-size airplane parts, and application thereof
EP3221095B1 (en) Robot and robot system
CA2831682C (en) Measuring system for determining 3d coordinates of an object surface
CN102494657B (en) Measuring head radius compensation method for curve surface profile measuring and detecting
US9302506B2 (en) Apparatus and method for printing on articles having a non-planar surface
CN106338245B (en) A kind of non-contact traverse measurement method of workpiece
CN103991078A (en) Robot system and method for controlling the same

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant