CN109163677B - Method for horizontally measuring product airfoil structure by three-dimensional laser scanning system - Google Patents
Method for horizontally measuring product airfoil structure by three-dimensional laser scanning system Download PDFInfo
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- CN109163677B CN109163677B CN201811196451.1A CN201811196451A CN109163677B CN 109163677 B CN109163677 B CN 109163677B CN 201811196451 A CN201811196451 A CN 201811196451A CN 109163677 B CN109163677 B CN 109163677B
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- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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Abstract
A method for carrying out horizontal measurement on a product airfoil structure by a three-dimensional laser scanning system belongs to the technical field of measurement. Compared with a platform height gauge method, the method of the invention uses a three-dimensional laser scanning system, has higher precision, has obvious measurement advantages on the wing surface installation angle and the dihedral angle with small size and high installation precision requirement, can effectively avoid the introduction of accidental errors in the calculation and measurement processes, and has reliable result; the whole measurement process has no requirement on the posture of a product, and does not need the auxiliary positioning of a tool, so that the design and manufacturing cost and the management of the tool are saved; the process of repeatedly leveling the product in the process of measuring the airfoil level is omitted, the data output can automatically calculate the measuring result, the working strength of operators is effectively reduced, and the operating efficiency is improved.
Description
Technical Field
The invention relates to a method for horizontally measuring a product airfoil structure by a three-dimensional laser scanning system, which is suitable for measuring an airfoil mounting angle and a dihedral angle of a product mounting symmetrical airfoil and belongs to the technical field of measurement.
Background
According to the requirements of the overall design unit, the horizontal measurement work of the assembly structure is required to be completed when the aviation product leaves the factory, and the horizontal measurement work comprises the horizontal measurement contents of the coaxiality of all cabin sections, the installation angle and the dihedral angle of the wing structure, the parallelism and the installation precision of the sliding block and the lifting lug and the like. The initial installation precision of the wing structure has important influence and reference significance on the flight attitude and control of a product, and the installation angle and the dihedral angle of the airfoil are required to be accurately measured when the airfoil is measured horizontally by a final assembly plant. At present, the product assembly factory mainly uses the traditional measuring mode that reference platform combines the height gage to accomplish the level measurement of wing class structure, and whole process is: leveling a product by using a horizontal measuring point on a horizontal measuring reference section of the product by using a special horizontal measuring tool, taking a reference platform as a unique reference of all horizontal measuring points on the product, measuring the height from each horizontal measuring point on the airfoil surface to the reference platform by using a height gauge, and calculating the height difference between each measuring point to obtain airfoil surface horizontal measuring deviation data. The whole measuring process needs to rotate and level the product for multiple times, so that the process is complicated, the efficiency is low, and accidental errors are easily introduced in the leveling and measuring processes, so that the accuracy of the measuring result is low. When the size of the airfoil is small and the requirement on installation accuracy is high, the limitation of evaluating the installation quality of the airfoil by using the measuring method is particularly prominent.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides a method for the three-dimensional laser scanning system to carry out horizontal measurement on the airfoil structure of the product, overcomes the defects of low measurement precision and low efficiency of the prior art scheme, eliminates the dependence on tool auxiliary positioning, avoids the introduction of accidental errors, and can effectively meet the horizontal measurement requirement of the small-size and high-precision installation airfoil.
The technical solution of the invention is as follows: a method for carrying out horizontal measurement on a product airfoil structure by a three-dimensional laser scanning system comprises the following steps:
s1, determining a reference cabin section of the theoretical longitudinal axis of the product, the profile of each airfoil and the reference characteristics corresponding to the theoretical installation plane of the airfoil of the product according to the design pattern;
s2, scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system by using a three-dimensional laser scanner;
s3, fitting the point cloud data of the reference cabin to obtain a theoretical longitudinal axis of the product; fitting the point cloud data of the reference features to obtain feature surfaces of the reference features of the airfoils; fitting the point cloud data of the appearances of the airfoils to obtain symmetrical surfaces of the airfoils, and taking any point on a theoretical longitudinal axis of the product as a cross section of the product at any point;
s4, converting the airfoil characteristic surfaces according to the angles corresponding to the airfoil theoretical installation planes to obtain the airfoil theoretical installation planes, and rotating the airfoil theoretical installation planes by 90 degrees by taking the product theoretical longitudinal axis as a rotating shaft to obtain the vertical plane of the airfoil theoretical installation planes;
and S5, calculating the installation angle and the dihedral angle of each airfoil by the unit normal vector of the cross section, the theoretical installation plane of each airfoil, the vertical plane of the theoretical installation plane of each airfoil and the symmetrical plane of each airfoil, and finishing the horizontal measurement of each airfoil structure.
Further, the airfoil stagger angle α satisfies
Wherein the content of the first and second substances,
is the projection vector, B ', of the normal vector of the plane of symmetry of the airfoil in a plane perpendicular to the theoretical mounting plane of the airfoil'n＝BnThe projection vector of the normal vector of the theoretical installation plane of the airfoil in the vertical plane of the theoretical installation plane of the airfoil; the deflection direction of the airfoil setting angle is determined according to the coordinate symbol of the unit normal vector of the symmetrical plane of the airfoil.
Further, the airfoil dihedral angle β satisfies
Wherein the content of the first and second substances,
is the projection vector of the normal vector of the symmetrical plane of the airfoil surface in the cross section of the product,
the method comprises the following steps of A, taking a projection vector of a normal vector of a theoretical installation plane of an airfoil surface in a product cross section, wherein A is a unit normal vector of the product cross section; the deflection direction of the dihedral angle of the airfoil is determined according to the coordinate symbol of the unit normal vector of the symmetrical plane of the airfoil.
Further, the reference feature is a sliding block machined and formed integrally with the reference cabin section, a positioning pin on the reference cabin section or an assembling sliding block on the reference cabin section.
Further, the reference cabin, the airfoil profile and the reference feature are scanned and acquired by using a three-dimensional laser scanner under the same coordinate system, and the scanning resolution is set to be 2 mm.
Further, the three-dimensional laser scanner is used for scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system, if the surface of the product is subjected to flange, anodic oxidation or galvanized surface treatment, the laser intensity of the three-dimensional laser scanner is 50% -60% of the default value of the system, and the scanning speed is 100 mm/s.
Further, the three-dimensional laser scanner is used for scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system, if the surface of the product is made of stainless steel or aluminum alloy materials, the laser intensity of the three-dimensional laser scanner is 90% of a default value of the system, and the scanning speed is 10-20 mm/s.
Compared with the prior art, the invention has the advantages that:
1) for the airfoil structure with small size and higher installation accuracy requirement, the three-dimensional laser scanning system can reach the measurement accuracy of 0.03mm, is higher than the ideal accuracy of 0.1mm by a platform height gauge method, can measure the second-level installation angle error, and better meets the measurement requirement of the assembly accuracy of the product structural part.
2) The measurement process has no requirement on the posture of the product, the auxiliary positioning of the tool is not needed, and the design, manufacture and management cost of the tool is saved.
3) The three-dimensional laser scanning system is used for measuring and calculating the installation precision of the airfoil, so that the introduction of accidental errors can be effectively avoided, and the measuring process is reliable.
4) When the airfoil surface is measured horizontally, the horizontal measurement reference section of a product does not need to be leveled, the working intensity of operators is effectively reduced, manual recording and calculation of measurement data are not needed, and the operation efficiency is high.
Drawings
FIG. 1 is a block diagram of the process flow of the present invention;
FIG. 2 is a schematic view of the mounting angle of a control surface I in the method of the invention;
FIG. 3 is a schematic view of the dihedral angle of the control surface I according to the method of the present invention;
FIG. 4 is a mounting angle formed by unit normal vector projection of a control surface I according to the method of the invention;
FIG. 5 shows the dihedral angle formed by the normal vector projection of the control surface I unit in the method of the present invention.
Detailed Description
A method for measuring the level of the airfoil structure of a product by a three-dimensional laser scanning system is disclosed, wherein the product comprises a flying product such as a missile. As shown in fig. 1, the method comprises the following specific steps:
step S1 determines the reference cabin segment and the reference feature: and establishing a reference cabin section capable of acquiring the theoretical longitudinal axis of the product according to the design pattern, and selecting a reference feature capable of establishing the theoretical installation plane of the airfoil of the product.
Step S2 prepares the product and the three-dimensional laser scanning system: and hoisting the product to a support vehicle for reliable support, unfolding the three-dimensional laser scanning system to be close to the product to be detected and arranging a scanning reference point on the product.
Step S3 scan: setting the scanning resolution of a three-dimensional laser scanning system, and scanning the reference cabin section in the step S1, the reference features in the step S1 and the wing surface outlines through a three-dimensional laser scanner in the system to obtain point cloud data of the reference cabin section in the step S1, the reference features in the step S1 and the wing surface outlines in the same coordinate system;
step S4, processing point cloud data to obtain a reference: fitting the point cloud data of the reference cabin section in the step S3 to obtain a theoretical longitudinal axis of the product by using the point cloud data of the step S3 and using Geomagic post-processing software of a three-dimensional scanning system; fitting the point cloud data of the reference features in the step S3 to obtain a certain feature surface on the reference features in the step S1; fitting the upper airfoil surface and the lower airfoil surface of each airfoil surface, and fitting the symmetrical surface of each airfoil surface by taking the upper airfoil surface and the lower airfoil surface of each airfoil surface as reference; any point on the theoretical longitudinal axis of the product is taken as the cross section of the product at that point.
Step S5 is to make theoretical installation planes and vertical planes of each airfoil: a certain characteristic surface on the reference characteristic is transformed according to a specific angle to form an airfoil theoretical installation plane; and rotating the theoretical installation plane of the airfoil by an angle of 90 degrees by taking the theoretical longitudinal axis of the product as a rotating shaft to obtain a vertical plane of the theoretical installation plane of the airfoil.
Step S6 repeats the fifth step to create each theoretical mounting plane of the airfoil and its vertical plane.
Step S7 outputs calculation of the correlation unit normal vector: and (3) outputting the cross section of the product, theoretical installation planes and vertical planes of all the airfoils and unit normal vectors of symmetrical planes of all the airfoils in the steps S4, S5 and S6 under the same coordinate system by using Geomagic post-processing software of a three-dimensional laser scanning system.
Step S8, calculating the erection angle and dihedral angle of each airfoil according to the unit normal vector: the included angle of the unit normal vector of the symmetrical surface of the airfoil and the projection vector of the unit normal vector of the theoretical installation plane of the airfoil in the vertical plane of the theoretical installation plane of the airfoil is an installation angle of the airfoil; and the included angle of the normal vector of the symmetrical surface of the airfoil and the projection vector of the normal vector of the theoretical installation plane of the airfoil in the cross section of the product is the dihedral angle of the airfoil. The deflection direction is determined according to the coordinate symbol of the unit normal vector of the symmetrical surface of the airfoil.
The preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Taking the X-shaped aerodynamic layout of the control surface I as an example, the installation form and the appearance are shown in figures 2 and 3. The included angle of the theoretical installation planes of the adjacent control surfaces is 80 degrees or 100 degrees, the product horizontal measurement reference sections are arranged on the cabin section 2 and the cabin section 4 in design, and the sliding block and the cabin body are required to be welded and then integrally machined, so that the relative position relation of the sliding block and the product axis is ensured.
The specific implementation mode is carried out according to the following process steps:
the first step is to determine the reference cabin section and the reference characteristics: because the design is provided with the product horizontal measurement reference cross section positioned on the cabin section 2 and the cabin section 4, the cabin section 2 and the cabin section 4 are selected as reference cabin sections and are used for obtaining the theoretical longitudinal axis of the product; because the relative position relation of the slide block and the product has higher processing precision, and the symmetrical plane of the slide block is superposed with the horizontal plane of the product, the slide block is selected as a reference characteristic and is used for obtaining the theoretical installation plane of the control surface.
Secondly, preparing a product and a three-dimensional laser scanning system: and hoisting the product to a support vehicle for reliable support, and placing the three-dimensional laser scanning system at a position near the product.
And a third step of scanning: setting the scanning resolution of a three-dimensional laser scanning system, scanning the shapes of the upper surface and the lower surface of a cabin section 2 and a cabin section 4, the upper surface and the lower surface of a rear sliding block and the shapes of the upper surface and the lower surface of a control surface I by using a three-dimensional laser scanner to obtain point cloud data of the cabin section 2 and the cabin section 4, the upper surface and the lower surface of the rear sliding block and the shapes of the control surface I in the same coordinate system, wherein the coordinate system uses a default coordinate system of a measuring system;
fourthly, processing the point cloud data to obtain a benchmark: fitting a theoretical longitudinal axis of the product by using point cloud data of the cabin section 2 and the cabin section 4 by using a three-dimensional scanning system post-processing software Geomagic; respectively fitting the point cloud data of the upper surface and the lower surface of the rear sliding block to obtain the upper surface and the lower surface of the rear sliding block, and further making a sliding block symmetrical surface on the upper surface and the lower surface of the rear sliding block which are fitted to be used as a reference surface; respectively fitting the upper surface and the lower surface of the control surface I by using point cloud data of the upper surface and the lower surface of the control surface I, and further making a symmetrical surface of the control surface I by using the fitted upper surface and lower surface of the control surface I; any point on the theoretical longitudinal axis of the product is taken as the cross section of the product at that point.
And fifthly, making theoretical installation planes and vertical planes of a control surface I and a control surface III: obtaining theoretical installation planes of the control surface I and the control surface III through a plane which forms an anticlockwise angle of 40 degrees with the reference plane and passes through the theoretical longitudinal axis of the product; and rotating the theoretical installation planes of the control surface I and the control surface III by 90 degrees by taking the theoretical longitudinal axis of the product as a rotating shaft to obtain the vertical plane of the theoretical installation planes of the control surface I and the control surface III.
And sixthly, making a control surface II, a control surface IV theoretical installation plane and a vertical plane thereof: obtaining theoretical installation planes of a control surface II and a control surface IV through a plane which forms a clockwise 40-degree angle with the reference plane and passes through the theoretical longitudinal axis of the product; and rotating the theoretical installation planes of the control surface II and the control surface IV by 90 degrees by taking the theoretical longitudinal axis of the product as a rotating shaft to obtain the vertical plane of the theoretical installation planes of the control surface II and the control surface IV.
And seventhly, outputting and calculating a related unit normal vector: using Geomagic of post-processing software of a three-dimensional scanning system to output unit normal vectors of theoretical installation planes of the cross section, the control plane I, the control plane II, the control plane III and the control plane IV of a product and a vertical plane and a symmetrical plane of the theoretical installation planes; the normal vector of the product cross section unit is A ═ a (a)1,a2,a3) (ii) a The unit normal vector of the theoretical installation plane of the control surface I is B1＝(i1,j1,k1) (ii) a The unit normal vector of the vertical surface of the theoretical installation plane of the control surface I is C1＝(m1,p1,q1) (ii) a The unit normal vector of the I symmetrical plane of the control surface is U1＝(x1,y1,z1)。
And eighth step, calculating the installation angle and the dihedral angle of the control surface I: as shown in figures 4 and 5, a control surface IProjection vector of normal vector of symmetry plane in vertical plane of theoretical installation plane of control plane I
Projection vector B of normal vector of theoretical installation plane of control surface I in vertical plane of theoretical installation plane of airfoil surface1'＝B1So that the airfoil surface mount angle alpha is satisfied
Dihedral angle of the control surface I: projection vector of normal vector of I-shaped symmetrical plane of control surface in product cross section
Projection vector B of normal vector of theoretical installation plane of control surface I in product cross section1"＝B1So that the dihedral angle beta of the airfoil surface satisfies
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (5)
1. A method for carrying out horizontal measurement on a product airfoil structure by a three-dimensional laser scanning system is characterized by comprising the following steps: the method comprises the following steps:
s1, determining a reference cabin section of the theoretical longitudinal axis of the product, the profile of each airfoil and the reference characteristics corresponding to the theoretical installation plane of the airfoil of the product according to the design pattern;
s2, scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system by using a three-dimensional laser scanner;
s3, fitting the point cloud data of the reference cabin to obtain a theoretical longitudinal axis of the product; fitting the point cloud data of the reference features to obtain feature surfaces of the reference features of the airfoils; fitting the point cloud data of the appearances of the airfoils to obtain symmetrical surfaces of the airfoils, and taking any point on a theoretical longitudinal axis of the product as a cross section of the product at any point;
s4, converting the airfoil characteristic surfaces according to the angles corresponding to the airfoil theoretical installation planes to obtain the airfoil theoretical installation planes, and rotating the airfoil theoretical installation planes by 90 degrees by taking the product theoretical longitudinal axis as a rotating shaft to obtain the vertical plane of the airfoil theoretical installation planes;
s5, calculating the installation angle and the dihedral angle of each airfoil by the unit normal vector of the cross section, each theoretical installation plane of each airfoil, the vertical plane of each theoretical installation plane of each airfoil and the symmetrical plane of each airfoil, and completing the horizontal measurement of each airfoil structure;
the airfoil surface mounting angle alpha satisfies
Wherein the content of the first and second substances,
is the projection vector, B ', of the normal vector of the plane of symmetry of the airfoil in a plane perpendicular to the theoretical mounting plane of the airfoil'n＝BnThe projection vector of the normal vector of the theoretical installation plane of the airfoil in the vertical plane of the theoretical installation plane of the airfoil; the deflection direction of the airfoil mounting angle is determined according to the coordinate symbol of the unit normal vector of the symmetrical plane of the airfoil;
said airfoil dihedral angle beta being satisfied
Wherein the content of the first and second substances,
is the projection vector, B ″, of the normal vector of the symmetrical plane of the airfoil surface in the cross section of the productn＝BnThe method comprises the following steps of A, taking a projection vector of a normal vector of a theoretical installation plane of an airfoil surface in a product cross section, wherein A is a unit normal vector of the product cross section; the deflection direction of the dihedral angle of the airfoil is determined according to the coordinate symbol of the unit normal vector of the symmetrical plane of the airfoil.
2. The method for leveling the airfoil structure of a product with a three-dimensional laser scanning system as recited in claim 1, wherein: the reference features are a sliding block machined and formed integrally with the reference cabin section, a positioning pin on the reference cabin section or an assembly sliding block on the reference cabin section.
3. The method for leveling the airfoil structure of a product with a three-dimensional laser scanning system as recited in claim 1, wherein: and scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system by using a three-dimensional laser scanner, wherein the scanning resolution is set to be 2 mm.
4. The method for leveling the airfoil structure of a product with a three-dimensional laser scanning system as recited in claim 1, wherein: and scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system by using a three-dimensional laser scanner, wherein if the surface of the product is subjected to flange, anodic oxidation or galvanizing surface treatment, the laser intensity of the three-dimensional laser scanner is 50-60% of the default value of the system, and the scanning speed is 100 mm/s.
5. The method for leveling the airfoil structure of a product with a three-dimensional laser scanning system as recited in claim 1, wherein: and scanning and acquiring point cloud data of the reference cabin, the airfoil profiles and the reference features in the same coordinate system by using a three-dimensional laser scanner, wherein if the surface of the product is made of stainless steel or aluminum alloy materials, the laser intensity of the three-dimensional laser scanner is 90% of a default value of the system, and the scanning speed is 10-20 mm/s.
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| CN110850810B (en) * | 2019-11-19 | 2021-02-02 | 中国航空制造技术研究院 | Finish machining registration method based on double-reference constraint |
| CN112665504B (en) * | 2020-11-23 | 2022-04-26 | 北京星航机电装备有限公司 | Horizontal measurement method based on exterior profile scanning |
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