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 PDFInfo
- 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
- measuring
- butt joint
- docking
- measurement
- aircraft component
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 40
- 210000001503 joint Anatomy 0.000 claims description 120
- 238000003032 molecular docking Methods 0.000 claims description 83
- 238000009966 trimming Methods 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 6
- 239000011159 matrix material Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000009466 transformation Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
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
Technical Field
The invention relates to the technical field of intelligent assembly of aircrafts, in particular to equipment, a method and a system for measuring butt joint gaps and step differences of airplane components.
Background
The outer shape of the airplane is formed by splicing a plurality of parts, the geometric precision of the spliced part directly influences the pneumatic continuity and the electromagnetic continuity of the airplane, and the outer shape of the airplane is an important index influencing the maneuverability, the stealth and the service life of the airplane. Currently, aircraft assembly has been changed from manual assembly to numerically controlled automatic assembly and is moving towards intelligent assembly. For the assembly process of airplane components, the automatic measurement of the gap and the step value of the butt joint area is the basis of attitude adjustment and trimming of numerical control equipment and is also the key of the intelligent conversion of airplane assembly.
The traditional small-sized airplane component assembly and the butt joint area deviation measurement adopt manual measurement, so that the problems of complex measurement, repeated adjustment process, low efficiency, poor precision and the like exist, and the development requirement of modern large-sized airplane assembly cannot be met. In the digital assembly, a boeing company measures the space attitude of a large part of an airplane by using a laser tracker or a laser radar, and then performs pose adjustment on the large part of the airplane to realize the butt joint assembly work of the large part of the airplane; most of the butt joint measurement of large airplanes developed in China adopts a laser tracker to measure the coordinates of the positioning points of components, map the coordinates with theoretical values and adjust the posture to complete the butt joint. However, when the method is used for measuring the docking clearance and the step difference of the large-scale aircraft component, the defects that only local characteristic points are measured and the measured data is incomplete exist, so that the precision required in the docking process of the large-scale aircraft component cannot be achieved.
Disclosure of Invention
The invention aims to provide equipment, a method and a system for measuring the butt joint clearance and the step difference of an airplane component.
In order to achieve the purpose, the invention provides the following scheme:
the measuring equipment for the butt joint gap and the step difference of the airplane components comprises a positioning device, a measuring device and an upper computer; the positioning device comprises a positioning tool; the measuring device comprises a circular track, a measuring head driving device and a circular track driving device;
the tested airplane component is arranged on the positioning device;
the ring rail is arranged on the positioning tool, and the measuring head is arranged on the ring rail; the ring track is used for ensuring that a preset distance exists between the measuring head and the tested aircraft component;
the measuring head driving device is arranged on the circular track and connected with the measuring head and used for driving the measuring head to move along the circular track;
the circular track driving device is installed on the positioning tool and connected with the circular track and used for driving the circular track to perform translation motion on the positioning tool;
the measuring head is connected with the upper computer; the measuring head is used for measuring the profile data of the butt joint area of the measured aircraft component; and the upper computer is used for calculating the butt joint clearance and the step difference of the butt joint area of the tested aircraft component according to the contour data of the butt joint area.
Optionally, the measuring head is a line structured light visual sensor.
Optionally, the measuring device further comprises a calibration block and a laser tracking device;
the calibration block is arranged at the bottom of the positioning tool; the laser tracking device is arranged at the top of the ring track; the calibration block and the laser tracking device are used to determine the position of the ring track and the measuring head.
Optionally, the calibration block is a trapezoid block structure; the number of the calibration blocks is multiple; and the plurality of calibration blocks are arranged at the bottom of the positioning tool at equal intervals.
Optionally, the positioning device further comprises a posture adjusting tool; the posture adjusting tool is positioned on one side of the positioning tool; the bottom of the posture adjusting tool is provided with a roller; and the attitude adjusting tool is used for carrying out butt joint attitude adjustment and trimming on the tested aircraft component according to the butt joint gap and the step difference.
The invention also discloses a method for measuring the docking clearance and the step difference of the airplane components, which is applied to the equipment for measuring the docking clearance and the step difference of the airplane components, and the method comprises the following steps:
acquiring contour data of a butt joint area of a tested aircraft component;
generating a measurement model of the butt joint area according to the profile data of the butt joint area;
obtaining a theoretical model of the butt joint area;
and obtaining the docking clearance and the step difference of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area.
Optionally, the acquiring of the profile data of the docking area of the measured aircraft component specifically includes:
acquiring contour data of a butt joint area of a tested aircraft component; the contour data of the butt joint area of the measured aircraft component are a plurality of point cloud data measured by the measuring head; and each point cloud data is a coordinate value of a measuring point in a measuring coordinate system.
Optionally, the generating a measurement model of the docking area according to the profile data of the docking area specifically includes:
converting the coordinate values of the measuring points under the measuring coordinate system into coordinate values under a workpiece coordinate system to obtain point cloud data under a plurality of workpiece coordinate systems;
and fitting the point cloud data under the multiple workpiece coordinate systems by adopting a least square method to generate a measurement model of the butt joint area.
Optionally, the obtaining of the docking gap and the step difference of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area specifically includes:
discretizing the theoretical model of the butt joint area to generate discrete point cloud data with the same order of magnitude as the point cloud data in the workpiece coordinate system; each discrete point cloud data is a coordinate value of a discrete point;
matching the plurality of measuring points in the butt joint area of the tested aircraft component with the plurality of discrete points at corresponding positions in the theoretical model to obtain matching point pairs of the measuring points and the discrete points;
obtaining coordinate values of the measuring points in the matching point pair under the workpiece coordinate system;
obtaining coordinate values of the discrete points in the matching point pair;
calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the length direction to obtain a butt joint gap of a butt joint area of the measured airplane component;
and calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the height direction to obtain a step difference of the butt joint area of the measured airplane component.
The invention also discloses a system for measuring the butt joint clearance and the step difference of the airplane components, which comprises the following components:
the contour data acquisition module is used for acquiring contour data of a butt joint area of the tested aircraft component;
the measurement model generation module is used for generating a measurement model of the butt joint area according to the profile data of the butt joint area;
the theoretical model obtaining module is used for obtaining a theoretical model of the butt joint area;
and the docking clearance and step acquiring module is used for acquiring the docking clearance and step of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a device, a method and a system for measuring butt joint gaps and step differences of airplane components. The measuring equipment comprises a positioning device, a measuring device and an upper computer; the positioning device comprises a positioning tool; the measuring device comprises a ring track, a measuring head driving device and a ring track driving device. Through set up on the location frock the circular orbit with the measuring head makes measuring head drive arrangement can drive the measuring head is followed circular orbit motion, circular orbit drive arrangement can drive the circular orbit is in carry out translation motion on the location frock. Therefore, the measurement of the profile data of the whole butt joint area of the tested airplane component can be realized through the movement of the measuring head and the circular track, the defect of low measurement precision caused by incomplete measurement data and measurement of local characteristic points is effectively overcome, the high-precision measurement of the butt joint clearance and the step difference of the tested airplane component is realized, accurate data support can be provided for the butt joint posture adjustment and trimming of the airplane component, and the precise assembly of the large airplane component is realized.
In addition, the measuring head adopted by the invention is a linear structure optical vision sensor which is a non-contact type, stable and ultra-high speed measuring sensor, and the invention can be used for butt joint measurement of large-scale airplane components, thereby improving the butt joint clearance and step difference measurement of the airplane components and the quality and efficiency of airplane component assembly and reducing the cost. Meanwhile, the invention also adopts the calibration block and the laser tracking device to calibrate the positions of the measuring head and the ring track, thereby further improving the accuracy of the measurement of the butt joint gap and the step difference of the measured airplane component.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a measurement device for measuring a docking gap and a step difference of an aircraft component according to the present invention;
FIG. 2 is a flowchart of a method for measuring the docking gap and the step difference of the aircraft component according to the present invention;
fig. 3 is a schematic view of a measurement coordinate system and a tool coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser tracker coordinate system provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a system for measuring the docking gap and the step difference of the aircraft component provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide equipment, a method and a system for measuring the butt joint clearance and the step difference of an airplane component.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a measurement device for a docking gap and a step difference of an aircraft component provided by the invention. Referring to fig. 1, the measurement equipment for the butt joint gap and the step difference of the aircraft component provided by the invention comprises a positioning device, a measurement device and an upper computer. The positioning device comprises a positioning tool 101. The measuring device comprises a ring track 102, a measuring head 103, a measuring head drive 104 and a ring track drive 105.
The aircraft component under test 106 is mounted on the positioning device.
The ring rail 102 is installed on the positioning tool 101, and the measuring head 103 is installed on the ring rail 102. The ring track 102 is used to ensure a predetermined distance between the measuring head 103 and the aircraft component 106 to be measured.
The measuring head driving device 104 is mounted on the ring track 102, and the measuring head driving device 104 is connected to the measuring head 103 and is used for driving the measuring head 103 to move along the ring track 102.
The ring rail driving device 105 is installed on the positioning tool 101, and the ring rail driving device 105 is connected with the ring rail 102 and is used for driving the ring rail 102 to perform translation movement on the positioning tool 101.
The measuring head 103 is connected with the upper computer 107. The measuring head 103 is used to measure contour data of the docking area of the aircraft component 106 under test. The upper computer 107 is used for calculating the butt joint gap and the step difference of the butt joint area of the tested aircraft component 106 according to the contour data of the butt joint area.
The upper computer 107 is further connected with the measuring head driving device 104 and the circular track driving device 105 respectively, and is used for controlling the operation of the measuring head driving device 104 and the circular track driving device 105.
After the large airplane part 106 to be measured is butted, the measuring head driving device 104 drives the measuring head 103 to move at equal intervals along the ring track 102, the movement distance is roughly controlled by an encoder inside the driving motor, after the large airplane part is moved to the right position, the laser tracking device 109 is triggered by an encoder signal to record the position of the measuring head 103, and meanwhile, a data acquisition unit in the upper computer 107 records the contour data of a butted area. Because the butt joint area of the large aircraft component is large, multiple scans are required, that is, after one scan along the circular track is completed, the circular track driving device 105 drives the circular track 102 to move at equal intervals, and then the measuring head driving device 104 drives the measuring head 103 to perform the next scan. Until the entire scan of the docking area of the tested aircraft component 106 is completed.
The data measured by the measuring head 103 at one time is not the data of the whole profile, and the measured data needs to be cleaned, and the measured data is spliced by adopting the superposition principle to obtain the data of the whole profile.
Wherein the measuring head 103 is a line structured optical visual sensor. The line structured light vision sensor is a non-contact, stable and ultra-high speed measurement sensor, and can be used for butt joint measurement of large aircraft parts, so that the accuracy and efficiency of the measurement of butt joint gaps and step differences of the aircraft parts can be improved, the quality and efficiency of the assembly of the aircraft parts are improved, and the cost is reduced.
The measuring device further comprises a calibration block 108 and a laser tracking device 109. The laser tracking device 109 is a laser tracker. The calibration block 108 is installed at the bottom of the positioning tool 101. The calibration block 108 is a trapezoidal block structure, and can calibrate the measuring head 103 by measuring three points, namely 1,2 and 3 points on the calibration block 103 in the trapezoidal block structure in fig. 1. The position of the measuring head 103 is related to the accuracy of the measurement data. The number of the calibration blocks 108 is plural. The number of calibration blocks 108 is determined according to the measurement range of the measurement head 103 and the size of the area of the docking area, and generally, the more accurate the calibration blocks are. The calibration blocks 108 are equally spaced, and the calibration blocks 108 are equally spaced and mounted at the bottom of the positioning tool 101.
The calibration block 108 is used to determine the corresponding relationship between the measuring head 103 and the tool (the positioning tool and the pose adjusting tool are collectively referred to as a tool in the present invention), and the moving distance of the guide ring rail driving device 105 driving the ring rail 102. The distance that the ring rail driving device 105 drives the ring rail 102 to move must be within the measurable range of the measuring head 103, and the data of two measurements can partially overlap. Since the relative distance between the two calibration blocks 108 is determined, the movement distance of the ring track 102 can be determined by interpolation. According to the size of the area of the butt joint region, the number of the calibration blocks 108, such as the calibration block a, the calibration block B, the calibration block C and the like, is set, and the laser tracking device 109 is used for scanning the calibration blocks to determine that the calibration blocks 108 are installed at equal intervals. The laser tracking device 109 is mounted on top of the ring track 102. The calibration block 108 and the laser tracking device 109 are used to calibrate the positions of the ring track 102 and the measuring head 103, so that the ring track 102 and the measuring head 103 can move at equal intervals.
The positions of the measuring head 103 and the ring track 102 are calibrated by the calibration block 108 and the laser tracking device 109, so that the accuracy of measuring the profile data of the whole butt joint area of the measured aircraft component can be further improved, and the precision of measuring the butt joint gap and the step difference of the measured aircraft component can be further improved.
Two tools (a positioning tool and a posture adjusting tool) are generally needed for the butt joint of large aircraft components, so that the positioning device comprises the positioning tool and the posture adjusting tool. The positioning tool plays a role in fixing and is used for installing the measuring device. The posture adjusting tool plays a butt joint role and is movable. Namely, the positioning device further comprises a posture adjusting tool 110. The posture adjusting tool 110 is located on one side of the positioning tool 101. The bottom of the posture adjusting tool 110 is provided with a roller 111, so that the posture adjusting tool 110 can move. The posture adjusting tool 110 is used for performing butt joint posture adjustment and trimming on the tested aircraft component 106 according to the butt joint gap and the step.
As can be seen, according to the measurement equipment for the aircraft component butt joint gap and the step difference provided by the present invention, the positioning tool 101 is provided with the ring track 102 and the measurement head 103, so that the measurement head driving device 104 can drive the measurement head 103 to move along the ring track 102, and the ring track driving device 105 can drive the ring track 102 to perform the translation movement on the positioning tool 101. Therefore, the measurement of the profile data of the whole butt joint area of the tested aircraft component 106 can be realized through the movement of the measuring head 103 and the ring rail 102, the defect of low measurement precision caused by incomplete measurement data and measurement of local feature points is effectively avoided, the high-precision measurement of the butt joint gap and the step difference of the tested aircraft component is realized, accurate data support can be provided for the butt joint posture adjustment and trimming of the aircraft component, and the precise assembly of the large aircraft component is realized.
The invention also provides a method for measuring the docking clearance and the step difference of the airplane components, and the method is applied to equipment for measuring the docking clearance and the step difference of the airplane components. Fig. 2 is a flowchart of a method for measuring a docking gap and a step difference of an aircraft component according to the present invention. Referring to fig. 2, the measuring method includes:
step 201: and acquiring contour data of the butt joint area of the tested aircraft component.
The contour data of the butt joint area of the measured aircraft component are a plurality of point cloud data measured by the measuring head; and each point cloud data is a coordinate value of a measuring point in a measuring coordinate system.
Step 202: and generating a measurement model of the butt joint area according to the profile data of the butt joint area.
The step 202 specifically includes:
and converting the coordinate values of the measuring points under the measuring coordinate system into coordinate values under a workpiece coordinate system to obtain point cloud data under a plurality of workpiece coordinate systems.
To realize the conversion between the measurement coordinate system and the workpiece coordinate system, firstly, a corresponding relationship among the workpiece coordinate system, the tool coordinate system, the laser tracker coordinate system and the measuring head coordinate system is established, and specifically, the method comprises the following steps:
first, establishing a workpiece coordinate system X2Y2Z2And a tool coordinate system X1Y1Z1The corresponding relation between them.
The tool coordinate system X1Y1Z1Is a coordinate system arranged on a butt joint tool (comprising a positioning tool and a posture adjusting tool) of a tested airplane component, and the workpiece coordinate system X2Y2Z2Is a coordinate system arranged on the part of the airplane to be tested.
Establishing the tool coordinate system X on the butt joint tool1Y1Z1Reference point O of1(x1,y1,z1) And calibrated by the laser tracking device 109Is the reference point O1(x1,y1,z1) To ensure the position is accurate. Establishing the workpiece coordinate system X on the part of the aircraft under test2Y2Z2Reference point O of2(x2,y2,z2). The workpiece coordinate system X2Y2Z2Reference point O of2(x2,y2,z2) Relative to the tool coordinate system X1Y1Z1Reference point O of1(x1,y1,z1) Coordinate offset of
The theoretical tool (positioning device) is kept attached to a workpiece (a tested airplane component), and the deformation of the workpiece is not considered, so that the corresponding relation of a coordinate system is as follows:
wherein, Δ x2Representing said object coordinate system X2Y2Z2Relative to the tool coordinate system X1Y1Z1Coordinate offset in the X direction; Δ y2Representing said object coordinate system X2Y2Z2Relative to the tool coordinate system X1Y1Z1Coordinate offset in the Y direction; Δ z2Representing said object coordinate system X2Y2Z2Relative to the tool coordinate system X1Y1Z1The amount of coordinate shift in the Z direction.
Secondly, fixing the measuring device on the positioning tool 101, calibrating the measuring head 103 by using the laser tracking device 109, and establishing a measuring coordinate system X3Y3Z3And the tool coordinate system X1Y1Z1The corresponding relation between them. FIG. 3 shows the present inventionThe embodiment provides a schematic diagram of a measurement coordinate system and a tool coordinate system. Selecting a Boolean-Walf model as a measurement coordinate system X3Y3Z3And the tool coordinate system X1Y1Z1A conversion model between.
Let X1Y1Z1Is a tool coordinate system, reference point O1(x1,y1,z1) Is the tool coordinate system X1Y1Z1The origin of (a); x3Y3Z3For measuring coordinate systems, reference points O3(x3,y3,z3) For said measurement coordinate system X3Y3Z3The origin of (a); the measurement coordinate system and the tool coordinate system have non-coincident original points and deflection angles. Said measurement coordinate system X3Y3Z3Origin O of3(x3,y3,z3) In the tool coordinate system X1Y1Z1The coordinate value of (1) isMeasuring coordinate system X3Y3Z3Relative to a tooling coordinate system X1Y1Z1Has an Euler angle of [ epsilon ]XεYεZ]And the scaling scale factor between the measurement coordinate system and the tool coordinate system is k, and seven parameters are recorded as [ delta x [ ]3Δy3Δz3εXεYεZ k]. Let PJIs a point of common association, PJThe coordinate values in the measurement coordinate system areThe coordinate value under the tool coordinate system isThe Boolean-Walff seven-parameter conversion model comprises the following components:
wherein,
thirdly, the laser tracking device 109 is used for determining the position B (x) of the calibration block 108 in the tool coordinate systemB,yB,zB) And calculating the coordinate of the laser tracker according to the coordinate of the point B in the coordinate system of the laser tracker and the coordinate of the point B in the coordinate system of the tool. Fig. 4 is a schematic diagram of a laser tracker coordinate system provided by an embodiment of the present invention. Referring to fig. 4, the coordinate relationship of the point B in the laser tracker coordinate system is:
wherein d represents the distance between the B point and the origin of the coordinate system of the laser tracker, α represents the included angle between the B point and the XOZ surface of the coordinate system of the laser tracker, and β represents the included angle between the projection of the B point on the XOY surface of the coordinate system of the laser tracker and the XOZ surface.
A calibration block A is fixed on the tool, and the coordinate value of the calibration block A under the tool coordinate system is determined by a laser trackerThe coordinate value of the calibration block A in the coordinate system of the laser tracker isThe corresponding relation between the tool coordinate system and the laser tracker coordinate system can be determined. And then determining the coordinate value of the measuring head under a coordinate system under the laser tracker through the laser tracker, and establishing the corresponding relation between the measuring head and a tool coordinate system. Therefore, the coordinate transformation relation among the laser tracker, the tool and the calibration block can be realized.
The fourth step, according to the workpiece coordinate system X2Y2Z2And a tool coordinate system X1Y1Z1Corresponding relation between them, measurement coordinate system X3Y3Z3And the tool coordinate system X1Y1Z1Corresponding relation between them, the measuring coordinate system X can be obtained3Y3Z3With the workpiece coordinate system X2Y2Z2The corresponding relationship between:
wherein,as a point of common association PJThe coordinate values in the workpiece coordinate system are, as the origin O of the measuring coordinate system3(x3,y3,z3) Coordinate values in the tooling coordinate system; k is a scaling factor between the measurement coordinate system and the tool coordinate system;is PJCoordinate values under the measurement coordinate system;is a reference point O of the workpiece coordinate system2(x2,y2,z2) Reference point O relative to the tool coordinate system1(x1,y1,z1) The amount of coordinate offset of (a) is,
according to the measuring coordinate system X3Y3Z3With the workpiece coordinate system X2Y2Z2The corresponding relation between the measuring points can convert the coordinate values of the measuring points under the measuring coordinate system into coordinate values under the workpiece coordinate system, and point cloud data under a plurality of workpiece coordinate systems are obtained. And each point cloud data is a coordinate value of one measuring point. The coordinate values of the i-th (i-1, 2, 3, …) measuring point include a coordinate value L in a longitudinal direction (i.e., X-axis direction)iAnd a coordinate value H in the height direction (i.e., Y-axis direction)i. And fitting the point cloud data under the multiple workpiece coordinate systems by adopting a least square method to generate a measurement model of the butt joint area.
Step 203: and acquiring a theoretical model of the butt joint area.
And acquiring a theoretical model of the butt joint area, wherein the theoretical model is a CAD model of the butt joint area of the tested airplane component provided by an airplane design department. The measurement model is compared and analyzed with a theoretical model of a tested airplane component butt joint area, the measurement point cloud data is matched with the point cloud data of the theoretical model of the airplane component, the deviation value in the length direction is obtained and is a gap value, the deviation value in the height direction is a step value, the actual gap and step of the large airplane component butt joint area can be solved, and then the data of the large airplane component butt joint gap and step can be seen through an upper computer.
Step 204: and obtaining the docking clearance and the step difference of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area.
Discretizing the CAD theoretical model of the butt joint area to generate discrete point cloud data with the same order of magnitude as the point cloud data under the workpiece coordinate system; and each discrete point cloud data is a coordinate value of one discrete point. The coordinate values of the i-th (i-1, 2, 3, …) discrete point include a coordinate value l in the longitudinal directioniAnd coordinate value h in height directioni. And then based on the invariance of the rigid body transformation of the curvature of the curved surface, mapping, comparing and registering the measured point cloud data and the CAD theoretical model to obtain a deviation value in the length direction, namely a gap value, and a deviation value in the height direction, namely a step value. The method specifically comprises the following steps:
and matching the plurality of measuring points in the butt joint area of the tested aircraft component with the plurality of discrete points at corresponding positions in the theoretical model to obtain matching point pairs of the measuring points and the discrete points. Namely, the ith discrete point and the ith measuring point form a pair of matched point pairs.
Obtaining coordinate values (L) of the measuring points in the matching point pair under the workpiece coordinate systemi,Hi)；
Obtaining coordinate values (l) of the discrete points in the pair of matching pointsi,hi)；
Calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the length direction to obtain a butt joint gap of a butt joint area of the measured airplane component; the calculation formula of the butt joint gap is as follows:
Δli＝Li-li (8)
wherein,. DELTA.liThe deviation value of the coordinate value of the ith measuring point in the workpiece coordinate system and the coordinate value of the ith discrete point in the length direction is the butt joint clearance of the ith point in the butt joint area of the tested aircraft component; l isiThe coordinate value of the length direction of the ith measuring point is obtained; liThe coordinate value in the length direction of the ith discrete point is shown.
And calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the height direction to obtain a step difference of the butt joint area of the measured airplane component. The calculation formula of the step difference is as follows:
Δhi＝Hi-hi (9)
wherein,. DELTA.hiThe deviation value of the coordinate value of the ith measuring point in the workpiece coordinate system and the coordinate value of the ith discrete point in the height direction is the step difference of the ith point in the butt joint area of the tested aircraft component; hiThe coordinate value of the ith measuring point in the height direction; h isiThe coordinate value of the ith discrete point height direction.
Therefore, the docking gaps and the step differences of all the points in the docking area of the tested aircraft component can be obtained, so that the docking gap and the step difference data of the whole docking area of the tested aircraft component 106 can be seen through the upper computer 107, and then the docking, attitude adjustment and trimming can be carried out on the tested aircraft component 106 according to the docking gaps and the step differences of all the points in the docking area, and the accurate assembly of the large aircraft component is realized.
The butt joint process of the airplane components is approximately rigid space pose transformation, and the error of the pose adjusting control point can be obtained by mapping an actual measurement value to a theoretical value, namely:
E＝(R·D+T)-M (10)
wherein E is an error matrix, R is a rotation transformation matrix, D is measured data measured by the measuring head, T is a translation transformation matrix, and M is a theoretical value. The values in the matrix E, R, D, T, M are all values in the tooling coordinate system.
Wherein,
in the formulaThe n-th (n is 1, 2..) errors of the posture adjusting control points in the x, y and z directions are respectively shown, and n is the number of the posture adjusting control points.
In the formula, epsilonx、εx、εxThe euler angles are transformed for the part attitude.
In the formulaAnd coordinate values of x, y and z axes of the measured data of the nth pose control point are respectively shown.
T＝[Tx Ty Tz]T (14)
Tx、Ty、TzRespectively representing translation transformation matrixes in the x direction, the y direction and the z direction.
In the formulaAnd coordinate values of x, y and z axes respectively representing theoretical values of the nth posture adjustment control point.
Because the precision requirement in each coordinate value direction is symmetrical, namely +/-S, the precision requirement matrix is:
in the formulaRespectively showing the precision of the nth posture adjustment control point in the x direction, the y direction and the z direction.
Using a least squares objective function:
constructing a constraint model:
wherein f represents a residual sum function, X represents a rotation matrix and a translation matrix which accord with the error of the attitude adjusting control points, n represents the number of the attitude adjusting control points,respectively representing the weight values of the ith posture-adjusting control point in the x, y and z directions,and the error of the ith attitude adjusting control point in the x direction, the y direction and the z direction is shown. c. Cix、ciy、cizRepresenting constraint functions in the x, y, z directions, respectively.
Obtaining a rotation matrix R and a translation matrix T after the X is obtained, and thus obtaining a best fitting position matrix F of the attitude adjusting control points according to the rotation matrix R and the translation matrix T:
F＝R·D+T (20)
and the position in the optimal fitting position matrix F is the position of the attitude adjusting control point under the target attitude of component butt joint, and the position meets the precision requirement of the attitude adjusting control point. Therefore, the adjusting posture and the trimming position of the butt joint of the large airplane components can be provided, and the accurate assembly of the large airplane components is realized.
Therefore, by adopting the method for measuring the butting gap and the step difference of the airplane component, the butting gap and the step difference of all points in the butting region of the airplane component to be measured are calculated according to the measurement data of the whole butting region outline of the airplane component to be measured, so that the butting gap and the step difference data of the whole butting region of the airplane component to be measured 106 can be seen through the upper computer 107, the defect of low measurement precision caused by incomplete measurement data and measurement of local characteristic points is effectively overcome, the airplane component to be measured 106 can be butted, adjusted in posture and trimmed according to the butting gap and the step difference of all points in the butting region, and the precise assembly of the large-sized airplane component is realized.
The invention also provides a system for measuring the butting gap and the step difference of the airplane components. Fig. 5 is a schematic structural diagram of a system for measuring the docking gap and the step difference of the aircraft component provided by the invention. Referring to fig. 5, the measuring system includes:
a contour data acquisition module 501, configured to acquire contour data of a docking area of a tested aircraft component; the contour data of the butt joint area of the measured aircraft component are a plurality of point cloud data measured by the measuring head; and each point cloud data is a coordinate value of a measuring point in a measuring coordinate system.
A measurement model generation module 502, configured to generate a measurement model of the docking area according to the profile data of the docking area;
a theoretical model obtaining module 503, configured to obtain a theoretical model of the docking area;
a docking gap and step acquiring module 504, configured to acquire a docking gap and a step of the docking region of the tested aircraft component according to the measurement model of the docking region and the theoretical model of the docking region.
The measurement model generating module 502 specifically includes:
the point cloud data acquisition unit is used for converting the coordinate values of the measuring points under the measuring coordinate system into coordinate values under a workpiece coordinate system to obtain point cloud data under a plurality of workpiece coordinate systems;
and the measurement model generating unit is used for fitting the point cloud data under the plurality of workpiece coordinate systems by adopting a least square method to generate a measurement model of the butt joint area.
The docking gap and step acquiring module 504 specifically includes:
a discrete point cloud data generation unit, configured to discretize the theoretical model of the docking area, and generate discrete point cloud data having the same order as the point cloud data in the workpiece coordinate system; each discrete point cloud data is a coordinate value of a discrete point;
a matching point pair obtaining unit, configured to match the multiple measurement points in the docking area of the measured aircraft component with the multiple discrete points at corresponding positions in the theoretical model, so as to obtain a matching point pair between a measurement point and a discrete point;
a measuring point coordinate obtaining unit, configured to obtain coordinate values of the measuring point in the matching point pair in the workpiece coordinate system;
a discrete point coordinate acquisition unit for acquiring coordinate values of the discrete points in the matching point pair;
the docking clearance calculating unit is used for calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the length direction to obtain the docking clearance of the docking area of the tested aircraft component;
and the step calculation unit is used for calculating a deviation value of the coordinate values of the measuring points in the workpiece coordinate system and the coordinate values of the discrete points in the height direction to obtain the step of the butt joint area of the tested aircraft component.
By adopting the system for measuring the butting gap and the step difference of the airplane components, the butting gap and the step difference of all points in the butting region of the airplane components to be measured can be calculated through the measurement data of the outline of the whole butting region of the airplane components to be measured, the defect of low measurement precision caused by incomplete measurement data and measurement only aiming at local characteristic points is effectively avoided, and then the butting, attitude adjustment and trimming can be carried out on the airplane components to be measured 106 according to the butting gap and the step difference of all points in the butting region, so that the accurate assembly of large airplane components is realized.
In summary, the measurement device, method and system for the docking gap and the step difference of the aircraft component provided by the invention at least have the following advantages:
1. according to the equipment, the method and the system for measuring the butt joint gap and the step difference of the airplane components, the precision of the adopted device and the precision of the adopted sensor are within the range required by the precision index, the early-stage measurement deviation can be eliminated, the accuracy of measurement data is improved, and the high-precision measurement of the butt joint region gap and the step difference in a large-size space is realized.
2. The equipment, the method and the system for measuring the butt joint clearance and the step difference of the airplane components have low requirements on the movement precision and the rigidity of the annular guide rail, can be suitable for measuring the butt joint areas of the airplane components of different types, have good universality and can reduce the overall measurement cost.
3. According to the equipment, the method and the system for measuring the butt joint gap and the step difference of the airplane component, the measuring head of the equipment adopts the line laser sensor, so that the measuring accuracy and the measuring efficiency of the butt joint gap and the step difference of the airplane component are greatly improved; the contour data of the butt joint area acquired by the sensor is processed and used for adjusting the butt joint posture of the component and trimming the butt joint area, and compared with the traditional phase method, the method has the advantages of high measurement efficiency and good result usability; according to the gap and the step difference value of the whole butt joint area contour obtained after the processing, the butt joint posture adjusting or trimming position F of the large airplane component can be determined, and therefore the airplane component can be accurately assembled.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The measuring equipment for the butt joint gap and the step difference of the airplane components is characterized by comprising a positioning device, a measuring device and an upper computer; the positioning device comprises a positioning tool; the measuring device comprises a circular track, a measuring head driving device and a circular track driving device;
the tested airplane component is arranged on the positioning device;
the ring rail is arranged on the positioning tool, and the measuring head is arranged on the ring rail; the ring track is used for ensuring that a preset distance exists between the measuring head and the tested aircraft component;
the measuring head driving device is arranged on the circular track and connected with the measuring head and used for driving the measuring head to move along the circular track;
the circular track driving device is installed on the positioning tool and connected with the circular track and used for driving the circular track to perform translation motion on the positioning tool;
the measuring head is connected with the upper computer; the measuring head is used for measuring the profile data of the butt joint area of the measured aircraft component; the upper computer is used for calculating the butt joint gap and the step difference of the butt joint area of the tested aircraft component according to the contour data of the butt joint area;
the measuring device also comprises a calibration block and a laser tracking device;
the calibration block is arranged at the bottom of the positioning tool; the laser tracking device is arranged at the top of the ring track; the calibration block and the laser tracking device are used for calibrating the positions of the ring track and the measuring head;
the calibration block is of a trapezoidal block structure, and the calibration of the measuring head is carried out through three-point measurement; the number of the calibration blocks is multiple; and the plurality of calibration blocks are arranged at the bottom of the positioning tool at equal intervals.
2. The aircraft component docking gap and step measurement assembly of claim 1, wherein the measurement head is a line structured optical vision sensor.
3. The aircraft component docking gap and step measurement equipment of claim 2, wherein the positioning device further comprises a pose adjustment tool; the posture adjusting tool is positioned on one side of the positioning tool; the bottom of the posture adjusting tool is provided with a roller; and the attitude adjusting tool is used for carrying out butt joint attitude adjustment and trimming on the tested aircraft component according to the butt joint gap and the step difference.
4. A method for measuring the docking gap and the step difference of an aircraft component, which is applied to the measurement equipment for the docking gap and the step difference of the aircraft component as claimed in any one of claims 1 to 3; the measuring method comprises the following steps:
acquiring contour data of a butt joint area of a tested aircraft component;
generating a measurement model of the butt joint area according to the profile data of the butt joint area;
obtaining a theoretical model of the butt joint area;
and obtaining the docking clearance and the step difference of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area.
5. The method for measuring the docking gap and the step difference of the aircraft component as claimed in claim 4, wherein the obtaining of the profile data of the docking area of the tested aircraft component specifically comprises:
acquiring contour data of a butt joint area of a tested aircraft component; the contour data of the butt joint area of the measured aircraft component are a plurality of point cloud data measured by the measuring head; and each point cloud data is a coordinate value of a measuring point in a measuring coordinate system.
6. The method for measuring the docking gap and the step difference of the aircraft component according to claim 5, wherein the generating the measurement model of the docking area according to the profile data of the docking area specifically comprises:
converting the coordinate values of the measuring points under the measuring coordinate system into coordinate values under a workpiece coordinate system to obtain point cloud data under a plurality of workpiece coordinate systems;
and fitting the point cloud data under the multiple workpiece coordinate systems by adopting a least square method to generate a measurement model of the butt joint area.
7. The method for measuring the docking gap and the step difference of the aircraft component according to claim 6, wherein the obtaining the docking gap and the step difference of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area specifically comprises:
discretizing the theoretical model of the butt joint area to generate discrete point cloud data with the same order of magnitude as the point cloud data in the workpiece coordinate system; each discrete point cloud data is a coordinate value of a discrete point;
matching the plurality of measuring points in the butt joint area of the tested aircraft component with the plurality of discrete points at corresponding positions in the theoretical model to obtain matching point pairs of the measuring points and the discrete points;
obtaining coordinate values of the measuring points in the matching point pair under the workpiece coordinate system;
obtaining coordinate values of the discrete points in the matching point pair;
calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the length direction to obtain a butt joint gap of a butt joint area of the measured airplane component;
and calculating a deviation value of the coordinate value of the measuring point in the workpiece coordinate system and the coordinate value of the discrete point in the height direction to obtain a step difference of the butt joint area of the measured airplane component.
8. A system for measuring the docking gap and the step difference of an aircraft component, which is applied to the equipment for measuring the docking gap and the step difference of the aircraft component as claimed in any one of claims 1 to 3; the measurement system includes:
the contour data acquisition module is used for acquiring contour data of a butt joint area of the tested aircraft component;
the measurement model generation module is used for generating a measurement model of the butt joint area according to the profile data of the butt joint area;
the theoretical model obtaining module is used for obtaining a theoretical model of the butt joint area;
and the docking clearance and step acquiring module is used for acquiring the docking clearance and step of the docking area of the tested aircraft component according to the measurement model of the docking area and the theoretical model of the docking area.
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 Active 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 (12)
| 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 |
| CN110298853B (en) * | 2019-07-04 | 2021-05-25 | 易思维（杭州）科技有限公司 | Visual inspection method for surface difference |
| CN111366092B (en) * | 2020-04-02 | 2021-02-02 | 易思维（杭州）科技有限公司 | Line structure light sensor pose adjusting method |
| CN112556575B (en) * | 2020-12-04 | 2022-07-29 | 西北工业大学 | Small-size aviation piston engine bent axle butt joint measuring device |
| CN114626470B (en) * | 2022-03-18 | 2024-02-02 | 南京航空航天大学深圳研究院 | Aircraft skin key feature detection method based on multi-type geometric feature operator |
| CN114627177B (en) * | 2022-03-25 | 2022-11-22 | 南京航空航天大学 | Aircraft skin gap and step difference measuring method based on image segmentation |
| CN114749907B (en) * | 2022-06-16 | 2022-10-25 | 成都飞机工业（集团）有限责任公司 | Device and method for pre-checking involution state of aero-engine and radiator |
| CN114789798B (en) * | 2022-06-27 | 2022-10-25 | 成都飞机工业（集团）有限责任公司 | Airplane cabin door step difference prediction method, device, equipment and medium |
| CN114954997B (en) * | 2022-07-14 | 2022-12-13 | 成都飞机工业（集团）有限责任公司 | Method, device, equipment and medium for controlling assembly step of cabin door |
| CN115164752B (en) * | 2022-09-07 | 2022-11-22 | 南京航空航天大学 | Self-adaptive measurement equipment and method for gap and step difference of butt joint of large part |
Family Cites Families (9)
| 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 |
| CN105033419B (en) * | 2015-08-14 | 2023-03-14 | 北京石油化工学院 | Movable welding robot device based on weld pool image weld seam 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 | Annular numerical control automatic hole making system for butt joint assembly of airplane body |
| 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 |
-
2017
- 2017-12-29 CN CN201711477801.7A patent/CN108151660B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108151660A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108151660B (en) | A kind of aircraft components butt-joint clearance and the measurement equipment of scale, method and system | |
| US11188688B2 (en) | Advanced automated process for the wing-to-body join of an aircraft with predictive surface scanning | |
| CN102825602B (en) | PSD (Position Sensitive Detector)-based industrial robot self-calibration method and device | |
| US10209107B2 (en) | Geometric error identification method of multi-axis machine tool and multi-axis machine tool | |
| US8452564B2 (en) | Method of determining geometric errors in a machine tool or measuring machine | |
| JP2510216B2 (en) | Method for calibrating sensors in industrial robots | |
| CN110530296B (en) | Method for determining line laser installation error angle | |
| EP1476797A2 (en) | Method and system for visualizing surface errors | |
| CN108132029B (en) | Accurate measurement method and device for assembly of satellite antenna unfolding system | |
| CN106705880B (en) | A kind of large caliber reflecting mirror face shape profile detection method and device in place | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| CN102654387A (en) | Online industrial robot calibration device based on spatial curved surface restraint | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN113607053B (en) | Pose adjusting device, method and system based on barrel inner surface feature points | |
| JP2983941B2 (en) | Measurement error correction method for 3D automatic measurement device | |
| CN114562941A (en) | System and method for accurately measuring relative wide-area machine vision images | |
| WO2007001327A2 (en) | Apparatus and methods for scanning conoscopic holography measurements | |
| CN112762849A (en) | Scanning device and scanning method | |
| CN114571436B (en) | Robot external parameter calibration method independent of ground rail absolute precision | |
| CN114964056B (en) | Self-calibration method for micro-assembly equipment | |
| CN111006706A (en) | Rotating shaft calibration method based on line laser vision sensor | |
| CN215952489U (en) | High-precision non-contact measuring system for butt joint of concave-convex sections of cylindrical objects | |
| CN107883894A (en) | A kind of spacecraft large scale load mounting surface flatness adjusting system in place | |
| Gooch | Optical metrology in manufacturing automation | |
| CN114393382B (en) | Visual guide assembly butt joint device and method |
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 |